Patch systems for use with assistive exosuit

ABSTRACT

Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer&#39;s normal clothing, over their clothing, between layers of clothing, or may be the wearer&#39;s primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer. One or more patch assemblies may be removably coupled to the exosuit.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 62/431,779, filed Dec. 8, 2016, the disclosure of which isincorporated by reference in its entirety. This application is acontinuation-in-part of U.S. patent application Ser. No. 15/684,466,filed Aug. 23, 2017, which claims priority to U.S. Provisional PatentApplication No. 62/378,471, filed Aug. 23, 2016, U.S. Provisional PatentApplication No. 62/378,555, filed Aug. 23, 2016, and U.S. ProvisionalPatent Application No. 62/431,779, filed Dec. 8, 2016, the disclosuresof which are incorporated by reference in their entireties.

BACKGROUND

Wearable robotic systems have been developed for augmentation of humans'natural capabilities, or to replace functionality lost due to injury orillness. One example of these systems is the ReWalk exoskeleton systemby ReWalk robotics. The ReWalk system comprises a rigid exoskeleton withpowered actuators at the knee and hip joints, to enable assistedambulation for paraplegic patients. However, the system comprises alarge, rigid frame; requires assistance of a caregiver; and it isintended for patients with paraplegia due to spinal cord injury. TheReWalk device is not appropriate for people with less degrees ofdisability, nor is it appropriate for functional augmentation forable-bodied people.

Examples of exosuit systems are described in the U.S. Pat. No.9,266,233, titled “Exosuit System,” which includes several concepts forexosuits comprising flexible linear actuators and clutched complianceelements to apply and/or modulate forces and/or compliances betweensegments of the body of the wearer. While the disclosure in the U.S.Pat. No. 9,266,233 broadly describes technologies that may be utilizedin an exosuit system, it does not teach the requirements, interactions,orientations and locations of the relevant subsystems required toprovide an assistive exosuit system for certain applications.

SUMMARY

Exosuit systems and methods according to various embodiments aredescribed herein. The exosuit system can be a suit that is worn by awearer on the outside of his or her body. It may be worn under thewearer's normal clothing, over their clothing, between layers ofclothing, or may be the wearer's primary clothing itself. The exosuitmay be assistive, as it physically assists the wearer in performingparticular activities, or can provide other functionality such ascommunication to the wearer through physical expressions to the body,engagement of the environment, or capturing of information from thewearer. One or more patch assemblies may be removably coupled to theexosuit.

In one embodiment, a patch assembly is provided that includes a housingdetachably coupled to an exosuit. The housing can include mountingcomponents for securing the housing to the exosuit, at least oneflexible linear actuator (FLA), at least one battery, and controlelectronics coupled to the at least one FLA and the at least one batteryand configured to selectively activate the at least one FLA to providemuscle movement assistance to a user of the exosuit.

In another embodiment, an exosuit is provided that can include a baselayer having a plurality of load distribution members and a plurality ofpatch assemblies detachably coupled to the base layer via the pluralityof load distribution members. Each one of the plurality of patchassemblies can include a housing that can include mounting componentsfor securing the housing to the base layer, at least one flexible linearactuator (FLA), at least one battery, and control electronics coupled tothe at least one FLA and the at least one battery and configured toselectively activate the at least one FLA to provide muscle movementassistance to a user of the exosuit.

In yet another embodiment, a multiple assistive movement patch assemblyis provided that can include a flexible substrate constructed to bedetachably coupled to a plurality of load bearing members existing onanterior and posterior sides of an exosuit, a plurality of sensorssecured to the flexible substrate, a plurality of batteries secured tothe flexible substrate, a plurality of flexible linear actuators (FLAs)secured to the flexible substrate, control electronics secured to theflexible substrate, and a power and communications network that iscoupled to the plurality of sensors, the plurality of batteries, theplurality of FLAs, and the control electronics, wherein the controlelectronics are operative to selectively activate the plurality of FLAsto provide muscle movement assistance to a user of the exosuit.

BRIEF DESCRIPTION OF THE DRAWINGS

Various objects, features, and advantages of the disclosed subjectmatter can be more fully appreciated with reference to the followingdetailed description of the disclosed subject matter when considered inconnection with the following drawings, in which like reference numeralsidentify like elements.

FIG. 1A shows a front view of an assistive exosuit undergarment with thestability layer continuously integrated with the base layer according tosome embodiments of the present disclosure.

FIG. 1B shows a back view of an assistive exosuit undergarment with thestability layer continuously integrated with the base layer according tosome embodiments of the present disclosure.

FIG. 1C shows a side view of an assistive exosuit undergarment with thestability layer continuously integrated with the base layer according tosome embodiments of the present disclosure.

FIG. 1D shows a front view of an assistive exosuit undergarment withdiscrete stability layer components attached to the base layer (powerlayer not shown) according to some embodiments of the presentdisclosure.

FIG. 1E shows a back view of an assistive exosuit undergarment withdiscrete stability layer components attached to the base layer (powerlayer not shown) according to some embodiments of the presentdisclosure.

FIG. 1F shows a side view of an assistive exosuit undergarment withdiscrete stability layer components attached to the base layer (powerlayer not shown) according to some embodiments of the presentdisclosure.

FIGS. 1G-1I show illustrative front, back, and side views, respectively,of the base layer without the presence of the stability or power layersaccording to some embodiments of the present disclosure.

FIG. 1J shows an illustrative chassis strap system constructed to beworn around the lower torso region of the wearer according to someembodiments of the present disclosure.

FIG. 1K shows yoke distribution member disposed around an upper torsoportion of a user according to some embodiments of the presentdisclosure.

FIG. 2A shows a front view of an assistive exosuit that is to be wornover the wearer's clothing according to some embodiments of the presentdisclosure.

FIG. 2B shows a back view of an assistive exosuit that is to be wornover the wearer's clothing according to some embodiments of the presentdisclosure.

FIG. 2C shows a side view of an assistive exosuit that is to be wornover the wearer's clothing according to some embodiments of the presentdisclosure.

FIG. 2D shows a detail view of an assistive exosuit that is to be wornover the wearer's clothing, including Load distribution member withpivots and compressive elements attached to a torso according to someembodiments of the present disclosure.

FIG. 2E shows a detail view of a postural support subsystem of anassistive exosuit that is to be worn over the wearer's clothingaccording to some embodiments of the present disclosure.

FIGS. 2F-2J illustrate another outerwear assistive exosuit (OAE) systemthat is intended to be worn over the wearer's clothing according to someembodiments of the present disclosure.

FIG. 3 shows a studio retail or service setting according to someembodiments of the present disclosure.

FIG. 4 is a flowchart of a process for providing an assistive exosuitsystem according to some embodiments of the present disclosure.

FIG. 5 shows a platform and communication network for an assistiveexosuit system according to some embodiments of the present disclosure.

FIG. 6A shows a motion profile for a sit-to-stand activity according tosome embodiments of the present disclosure.

FIG. 6B shows a motion profile for a stand-to-sit activity according tosome embodiments of the present disclosure.

FIG. 6C shows a motion profile for providing postural stabilityaccording to some embodiments of the present disclosure.

FIG. 6D shows a motion profile for gait assistance according to someembodiments of the present disclosure.

FIG. 6E illustrates an embodiment of a process for executingsit-to-stand assistance according to some embodiments of the presentdisclosure.

FIG. 6F illustrates an embodiment of a process for executing gait(walking) assistance according to some embodiments of the presentdisclosure.

FIG. 6G illustrates an embodiment of a process for executing standingpostural support assistance according to some embodiments of the presentdisclosure.

FIG. 6H illustrates an embodiment of a process for executing assistancewith a stand-to-sit motion according to some embodiments of the presentdisclosure.

FIG. 6I illustrates a sit-to-stand activity/motion timing diagramaccording to some embodiments of the present disclosure.

FIG. 7 shows a schematic and motion profile for a clutched flexiblelinear actuator (FLA) and spring subsystem according to some embodimentsof the present disclosure.

FIG. 8A shows a front view of an exosuit according to some embodimentsof the present disclosure.

FIG. 8B shows a back view of an exosuit according to some embodiments ofthe present disclosure.

FIG. 8C shows a side view of an exosuit according to some embodiments ofthe present disclosure.

FIG. 9A shows a front view of a uni-suit assistive exosuit according tosome embodiments of the present disclosure.

FIG. 9B shows a back view of a uni-suit assistive exosuit according tosome embodiments of the present disclosure.

FIG. 10 shows a concept for a twisted string actuator (TSA) motor andspindle configuration according to some embodiments of the presentdisclosure.

FIG. 11 shows a concept for a TSA configuration with force sensingcapability according to some embodiments of the present disclosure.

FIG. 12 shows a TSA configuration with a hollow motor and cycloid driveaccording to some embodiments of the present disclosure.

FIG. 13 shows a TSA configuration with an o-ring drive, force sensingand length sensing capability according to some embodiments of thepresent disclosure.

FIG. 14 shows a TSA configuration with an o-ring drive and low-profilehousing according to some embodiments of the present disclosure.

FIG. 15 shows a TSA configuration with o-ring drive and length-sensingaccording to some embodiments of the present disclosure.

FIG. 16 shows a TSA configured with phased actuators and clutchingelements according to some embodiments of the present disclosure.

FIG. 17 shows an array of FLAs and clutching elements according to someembodiments of the present disclosure.

FIG. 18 shows an application of an array of FLAs and clutching elementsaccording to some embodiments of the present disclosure.

FIG. 19A illustrates possible configurations of a load distributionstrap according to some embodiments of the present disclosure.

FIG. 19B illustrates a cross section of a load distribution strapaccording to some embodiments of the present disclosure.

FIG. 20A Shows a front-right oblique view of an undergarment assistiveexosuit with modular components according to certain embodiments of thepresent disclosure.

FIG. 20B shows a back-right view of an undergarment assistive exosuitwith modular components according to certain embodiments of the presentdisclosure.

FIG. 20C shows a detail view of modular components of an undergarmentassistive exosuit according to certain embodiments of the presentdisclosure.

FIG. 21 illustrates an embodiment of an undergarment assistive exosuitwith modular patches and various use scenarios.

FIGS. 22A-22C show front, back, and side views of several different loaddistribution members positioned on different locations of a human body.

FIG. 23 illustrates an exosuit and system configured to communicate withthe PPSO according to various embodiments.

FIG. 24 illustrates a schematic of a control scheme for an exosuitaccording to various embodiments.

FIG. 25 shows an illustrative block diagram of an exosuit that isconstructed to receive patch assemblies in accordance with variousembodiments;

FIG. 26 shows an illustrative block diagram of patch assembly accordingto an embodiment;

FIG. 27 shows an illustrative multiple assistive movement patch assemblyaccording to an embodiment;

FIG. 28 shows illustrative back, side, and front views of the patchassembly of FIG. 27 when it is secured to an exosuit;

FIG. 29 shows illustrative back, side, and front views of a base layerof an exosuit according to various embodiments;

FIG. 30 shows illustrative back, side, and front views of an exosuitwith patch assemblies attached thereto according to various embodiments;

FIG. 31 shows illustrative front view of a female exosuit base layeraccording to an embodiment;

FIG. 32 show illustrative back view of a female exosuit base layeraccording to an embodiment;

FIG. 33 shows show illustrative front and back views of a female exosuitbase layer with patch assemblies and cover layer according to anembodiment.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forthregarding the systems, methods and media of the disclosed subject matterand the environment in which such systems, methods and media mayoperate, etc., in order to provide a thorough understanding of thedisclosed subject matter. It can be apparent to one skilled in the art,however, that the disclosed subject matter may be practiced without suchspecific details, and that certain features, which are well known in theart, are not described in detail in order to avoid complication of thedisclosed subject matter. In addition, it can be understood that theexamples provided below are exemplary, and that it is contemplated thatthere are other systems, methods and media that are within the scope ofthe disclosed subject matter.

In the descriptions that follow, an exosuit or assistive exosuit is asuit that is worn by a wearer on the outside of his or her body. It maybe worn under the wearer's normal clothing, over their clothing, betweenlayers of clothing, or may be the wearer's primary clothing itself. Theexosuit may be assistive, as it physically assists the wearer inperforming particular activities, or can provide other functionalitysuch as communication to the wearer through physical expressions to thebody, engagement of the environment, or capturing of information fromthe wearer. In some embodiments, an powered exosuit system can includeseveral subsystems, or layers. In some embodiments, the powered exosuitsystem can include more or less subsystems or layers. The subsystems orlayers can include the base layer, stability layer, power layer, sensorand controls layer, a covering layer, and user interface/user experience(UI/UX) layer.

Base Layer

The base layer provides the interfaces between the exosuit system andthe wearer's body. The base layer may be adapted to be worn directlyagainst the wearer's skin, between undergarments and outer layers ofclothing, over outer layers of clothing or a combination thereof, or thebase layer may be designed to be worn as primary clothing itself. Insome embodiments, the base layer can be adapted to be both comfortableand unobtrusive, as well as to comfortably and efficiently transmitloads from the stability layer and power layer to the wearer's body inorder to provide the desired assistance. The base layer can typicallycomprise several different material types to achieve these purposes.Elastic materials may provide compliance to conform to the wearer's bodyand allow for ranges of movement. The innermost layer is typicallyadapted to grip the wearer's skin, undergarments or clothing so that thebase layer does not slip as loads are applied. Substantiallyinextensible materials may be used to transfer loads from the stabilitylayer and power layer to the wearer's body. These materials may besubstantially inextensible in one axis, yet flexible or extensible inother axes such that the load transmission is along preferred paths. Theload transmission paths may be optimized to distribute the loads acrossregions of the wearer's body to minimize the forces felt by the wearer,while providing efficient load transfer with minimal loss and notcausing the base layer to slip. Collectively, this load transmissionconfiguration within the base layer may be referred to as a loaddistribution member. Load distribution members refer to flexibleelements that distribute loads across a region of the wearer's body.Examples of load distribution members can be found in InternationalApplication PCT/US16/19565, titled “Flexgrip,” the contents of which areincorporated herein by reference.

The load distribution members may incorporate one or more catenarycurves to distribute loads across the wearer's body. Multiple loaddistribution members or catenary curves may be joined with pivot points,such that as loads are applied to the structure, the arrangement of theload distribution members pivots tightens or constricts on the body toincrease the gripping strength. Compressive elements such as battens,rods, or stays may be used to transfer loads to different areas of thebase layer for comfort or structural purposes. For example, a powerlayer component may terminate in the middle back due to its size andorientation requirements, however the load distribution members thatanchor the power layer component may reside on the lower back. In thiscase, one or more compressive elements may transfer the load from thepower layer component at the middle back to the load distribution memberat the lower back.

The load distribution members may be constructed using multiplefabrication and textile application techniques. For example, the loaddistribution member can be constructed from a layered woven 45°/90° withbonded edge, spandex tooth, organza (poly) woven 45°/90° with bondededge, organza (cotton/silk) woven 45°/90°, and Tyvek (non-woven laser).The load distribution member may be constructed using knit and lacing orhorse hair and spandex tooth. The load distribution member may beconstructed using channels and/or laces.

The base layer may include a flexible underlayer that is constructed tocompress against a portion of the wearer's body, either directly to theskin, or to a clothing layer, and also provides a relatively high gripsurface for one or more load distribution members to attach thereto. Theload distribution members can be coupled to the underlayer to facilitatetransmission of shears or other forces from the members, via theflexible underlayer, to skin of a body segment or to clothing worn overthe body segment, to maintain the trajectories of the members relativeto such a body segment, or to provide some other functionality. Such aflexible underlayer could have a flexibility and/or compliance thatdiffers from that of the member (e.g., that is less than that of themembers, at least in a direction along the members), such that themember can transmit forces along their length and evenly distributeshear forces and/or pressures, via the flexible underlayer, to skin of abody segment to which a flexible body harness is mounted.

Further, such a flexible underlayer can be configured to provideadditional functionality. The material of the flexible underlayer couldinclude anti-bacterial, anti-fungal, or other agents (e.g., silvernanoparticles) to prevent the growth of microorganisms. The flexibleunderlayer can be configured to manage the transport of heat and/ormoisture (e.g., sweat) from a wearer to improve the comfort andefficiency of activity of the wearer. The flexible underlayer caninclude straps, seams, hook-and-loop fasteners, clasps, zippers, orother elements configured to maintain a specified relationship betweenelements of the load distribution members and aspects of a wearer'sanatomy. The underlayer can additionally increase the ease with which awearer can don and/or doff the flexible body harness and/or a system(e.g., a flexible exosuit system) or garment that includes the flexiblebody harness. The underlayer can additionally be configured to protectthe wearer from ballistic weapons, sharp edges, shrapnel, or otherenvironmental hazards (by including, e.g., panels or flexible elementsof para-aramid or other high-strength materials).

The base layer can additionally include features such as sizeadjustments, openings and electro-mechanical integration features toimprove ease of use and comfort for the wearer.

Size Adjustment

Size adjustment features permit the exosuit to be adjusted to thewearer's body. The size adjustments may allow the suit to be tightenedor loosened about the length or circumference of the torso or limbs. Theadjustments may comprise lacing, the Boa system, webbing, elastic,hook-and-loop or other fasteners. Size adjustment may be accomplished bythe load distribution members themselves, as they constrict onto thewearer when loaded. In one example, the torso circumference may betightened with corset-style lacing, the legs tightened withhook-and-loop in a double-back configuration, and the length andshoulder height adjusted with webbing and tension-lock fasteners such ascam-locks, D-rings or the like. The size adjustment features in the baselayer may be actuated by the power layer to dynamically adjust the baselayer to the wearer's body in different positions, in order to maintainconsistent pressure and comfort for the wearer. For example, the baselayer may be required to tighten on the thighs when standing, and loosenwhen sitting such that the base layer does not excessively constrict thethighs when seated. The dynamic size adjustment may be controlled by thesensor and controls layer, for example by detecting pressures or forcesin the base layer and actuating the power layer to consistently attainthe desired force or pressure. This feature does not necessarily causethe suit to provide physical assistance, but can create a morecomfortable experience for the wearer, or allow the physical assistanceelements of the suit to perform better or differently depending on thepurpose of the movement assistance.

Opening

Opening features in the base layer may be provided to facilitate donning(putting the exosuit on) and doffing (taking the exosuit off) for thewearer. Opening features may comprise zippers, hook-and-loop, snaps,buttons or other textile fasteners. In one example, a front, centralzipper provides an opening feature for the torso, while hook-and-loopfasteners provide opening features for the legs and shoulders. In thiscase, the hook-and-loop fasteners provide both opening and adjustmentfeatures. In other examples, the exosuit may simply have large openings,for example around the arms or neck, and elastic panels that allow thesuit to be dinned and doffed without specific closure mechanisms. Atruncated load distribution member may be simply extended to tighten onthe wearer's body. Openings may be provided to facilitate toileting sothe user can keep the exosuit on, but only have to remove or open arelatively small portion to use the bathroom.

Electro-Mechanical Integration

Electro-mechanical integration features attach components of thestability layer, power layer and sensor and controls layer into the baselayer for integration into the exosuit. The integration features may befor mechanical, structural, comfort, protective or cosmetic purposes.Structural integration features anchor components of the other layers tothe base layer. For the stability and power layers, the structuralintegration features provide for load-transmission to the base layer andload distribution members, and may accommodate specific degrees offreedom at the attachment point. For example, a snap or rivet anchoringa stability or power layer element may provide both load transmission tothe base layer, as well as a pivoting degree of freedom. Stitched,adhesive, or bonded anchors may provide load transmission with orwithout the pivoting degree of freedom. A sliding anchor, for examplealong a sleeve or rail, may provide a translational degree of freedom.Anchors may be separable, such as with snaps, buckles, clasps or hooks;or may be inseparable, such as with stitching, adhesives or otherbonding. Size adjustment features as described above may allowadjustment and customization of the stability and power layers, forexample to adjust the tension of spring or elastic elements in thepassive layer, or to adjust the length of actuators in the power layer.

Other integration features such as loops, pockets, and mounting hardwaremay simply provide attachment to components that do not have significantload transmission requirements, such as batteries, circuit boards,sensors, or cables. In some cases, components may be directly integratedinto textile components of the base layer. For example, cables orconnectors may include conductive elements that are directly woven,bonded or otherwise integrated into the base layer.

Electro-mechanical integration features may also protect or cosmeticallyhide components of the stability, power or sensor and controls layers.Elements of the stability layer (e.g. elastic bands or springs), powerlayer (e.g. flexible linear actuators or twisted string actuators) orsensor and controls layer (e.g. cables) may travel through sleeves,tubes, or channels integrated into the base layer, which can bothconceal and protect these components. The sleeves, tubes, or channelsmay also permit motion of the component, for example during actuation ofa power layer element. The sleeves, channels, or tubes may compriseresistance to collapse, ensuring that the component remains free anduninhibited within.

Enclosures, padding, fabric coverings, or the like may be used tofurther integrate components of other layers into the base layer forcosmetic, comfort, or protective purposes. For example, components suchas motors, batteries, cables, or circuit boards may be housed within anenclosure, fully or partially covered or surrounded in padded materialsuch that the components do not cause discomfort to the wearer, arevisually unobtrusive and integrated into the exosuit, and are protectedfrom the environment. Opening and closing features may additionallyprovide access to these components for service, removal, or replacement.

In some cases—particularly for exosuits configurable for eitherprovisional use or testing—a tether may allow for some electronic andmechanical components to be housed off the suit. In one example,electronics such as circuit boards and batteries may be over-sized, toallow for added configurability or data capture. If the large size ofthese components makes it undesirable to mount them on the exosuit, theycould be located separately from the suit and connected via a physicalor wireless tether. Larger, over-powered motors may be attached to thesuit via flexible drive linkages that allow actuation of the power layerwithout requiring large motors to be attached to the suit. Suchover-powered configurations allow optimization of exosuit parameterswithout constraints requiring all components to be attached orintegrated into the exosuit.

Electro-mechanical integration features may also include wirelesscommunication. For example, one or more power layer components may beplaced at different locations on the exosuit. Rather than utilizingphysical electrical connections to the sensors and controls layer, thesensor and controls layer may communicate with the one or more powerlayer components via wireless communication protocols such as Bluetooth,ZigBee, ultrawide band, or any other suitable communication protocol.This may reduce the electrical interconnections required within thesuit. Each of the one or more power layer components may additionallyincorporate a local battery such that each power layer component orgroup of power layer components are independently powered units that donot require direct electrical interconnections to other areas of theexosuit.

Stability Layer

The stability layer provides passive mechanical stability and assistanceto the wearer. The stability layer comprises one or more passive(non-powered) spring or elastic elements that generate forces or storeenergy to provide stability or assistance to the wearer. An elasticelement can have an un-deformed, least-energy state. Deformation, e.g.elongation, of the elastic element stores energy and generates a forceoriented to return the elastic element toward its least-energy state.For example, elastic elements approximating hip flexors and hipextensors may provide stability to the wearer in a standing position. Asthe wearer deviates from the standing position, the elastic elements aredeformed, generating forces that stabilize the wearer and assistmaintaining the standing position. In another example, as a wearer movesfrom a standing to seated posture, energy is stored in one or moreelastic elements, generating a restorative force to assist the wearerwhen moving from the seated to standing position. Similar passive,elastic elements may be adapted to the torso or other areas of the limbsto provide positional stability or assistance moving to a position wherethe elastic elements are in their least-energy state.

Elastic elements of the stability layer may be integrated to parts ofthe base layer or be an integral part of the base layer. For exampleelastic fabrics containing spandex or similar materials may serve as acombination base/stability layer. Elastic elements may also includediscrete components such as springs or segments of elastic material suchas silicone or elastic webbing, anchored to the base layer for loadtransmission at discrete points, as described above.

The stability layer may be adjusted as described above, both to adapt tothe wearer's size and individual anatomy, as well as to achieve adesired amount of pre-tension or slack in components of the stabilitylayer in specific positions. For example, some wearers may prefer morepre-tension to provide additional stability in the standing posture,while others may prefer more slack, so that the passive layer does notinterfere with other activities such as ambulation.

The stability layer may interface with the power layer to engage,disengage, or adjust the tension or slack in one or more elasticelements. In one example, when the wearer is in a standing position, thepower layer may pre-tension one or more elastic elements of thestability layer to a desired amount for maintaining stability in thatposition. The pre-tension may be further adjusted by the power layer fordifferent positions or activities. In some embodiments, the elasticelements of the stability layer should be able to generate at least 5lbs force; preferably at least 50 lbs force when elongated.

Power Layer

The power layer can provide active, powered assistance to the wearer, aswell as electromechanical clutching to maintain components of the poweror stability layers in a desired position or tension. The power layercan include one or more flexible linear actuators (FLA). An FLA is apowered actuator capable of generating a tensile force between twoattachment points, over a give stroke length. An FLA is flexible, suchthat it can follow a contour, for example around a body surface, andtherefore the forces at the attachment points are not necessarilyaligned. In some embodiments, one or more FLAs can include one or moretwisted string actuators. In the descriptions that follow, FLA refers toa flexible linear actuator that exerts a tensile force, contracts orshortens when actuated. The FLA may be used in conjunction with amechanical clutch that lock the tension force generated by the FLA inplace so that the FLA motor does not have to consume power to maintainthe desired tension force. Examples of such mechanical clutches arediscussed below. In some embodiments, FLAs can include one or moretwisted string actuators or flexdrives, as described in further detailin U.S. Pat. No. 9,266,233, titled “Exosuit System,” the contents ofwhich are incorporated herein by reference. FLAs may also be used inconnection with electrolaminate clutches, which are also described inthe U.S. Pat. No. 9,266,233. The electrolaminate clutch (e.g., clutchesconfigured to use electrostatic attraction to generate controllableforces between clutching elements) may provide power savings by lockinga tension force without requiring the FLA to maintain the same force.

The powered actuators, or FLAs, are arranged on the base layer,connecting different points on the body, to generate forces forassistance with various activities. The arrangement can oftenapproximate the wearer's muscles, in order to naturally mimic and assistthe wearer's own capabilities. For example, one or more FLAs may connectthe back of the torso to the back of the legs, thus approximating thewearer's hip extensor muscles. Actuators approximating the hip extensorsmay assist with activities such as standing from a seated position,sitting from a standing position, walking, or lifting. Similarly, one ormore actuators may be arranged approximating other muscle groups, suchas the hip flexors, spinal extensors, abdominal muscles or muscles ofthe arms or legs.

The one or more FLAs approximating a group of muscles are capable ofgenerating at least 10 lb over at least a ½ inch stroke length within 4seconds. In some embodiments, one or more FLAs approximating a group ofmuscles may be capable of generating at least 250 lb. over a 6-inchstroke within ½ second. Multiple FLAs, arranged in series or parallel,may be used to approximate a single group of muscles, with the size,length, power, and strength of the FLAs optimized for the group ofmuscles and activities for which they are utilized.

Sensor and Controls Layer

The sensor and controls layer captures data from the suit and wearer,utilizes the sensor data and other commands to control the power layerbased on the activity being performed, and provides suit and wearer datato the UX/UI layer for control and informational purposes.

Sensors such as encoders or potentiometers may measure the length androtation of the FLAs, while force sensors measure the forces applied bythe FLAs. Inertial measurement units (IMUs) measure and enablecomputation of kinematic data (positions, velocities and accelerations)of points on the suit and wearer. These data enable inverse dynamicscalculations of kinetic information (forces, torques) of the suit andwearer. Electromyographic (EMG) sensors may detect the wearer's muscleactivity in specific muscle groups. Electronic control systems (ECSs) onthe suit may use parameters measured by the sensor layer to control thepower layer. Data from the IMUs may indicate both the activity beingperformed, as well as the speed and intensity. For example, a pattern ofIMU or EMG data may enable the ECS to detect that the wearer is walkingat a specific pace. This information then enables the ECS, utilizing thesensor data, to control the power layer in order to provide theappropriate assistance to the wearer.

Data from the sensor layer may be further provided to the UX/UI layer,for feedback and information to the wearer, caregivers or serviceproviders.

UX/UI Layer

The UX/UI layer comprises the wearer's and others' interaction andexperience with the exosuit system. This layer includes controls of thesuit itself such as initiation of activities, as well as feedback to thewearer and caregivers. A retail or service experience may include stepsof fitting, calibration, training and maintenance of the exosuit system.Other UX/UI features may include additional lifestyle features such aselectronic security, identity protection and health status monitoring.

Wearer Commands/Controls

The assistive exosuit can have a user interface for the wearer toinstruct the suit which activity is to be performed, as well as thetiming of the activity. In one example, a user may manually instruct theexosuit to enter an activity mode via one or more buttons, a keypad, ora tethered device such as a mobile phone. In another example, theexosuit may detect initiation of an activity from the sensor andcontrols layer, as described previously. In yet another example, theuser may speak a desired activity mode to the suit, which can interpretthe spoken request to set the desired mode. The suit may bepre-programmed to perform the activity for a specific duration, untilanother command is received from the wearer, or until the suit detectsthat the wearer has ceased the activity. The suit may include fail safefeatures that, when activated, cause the suit to cease all activity.

The exosuit may have a UX/UI controller that is defined as a node onanother user device, such as a computer or mobile smart phone. Theexosuit may also be the base for other accessories. For example, theexosuit may include a cell phone chip so that the suit may be capable ofreceiving both data and voice commands directly similar to a cell phone,and can communicate information and voice signals through such a node.The exosuit control architecture can be configured to allow for otherdevices to be added as accessories to the exosuit. For example, a videoscreen may be connected to the exosuit to show images that are relatedto the use of the suit. The exosuit may be used to interact with smarthousehold devices such as door locks or can be used to turn on smarttelevisions and adjust channels and other settings. In these modes, thephysical assist of the suit can be used to augment or create physical orhaptic experiences for the wearer that are related to communication withthese devices. For instance, an email could have a pat on the back as aform of physical emoji that when inserted in the email causes the suitto physically tap the wearer or perform some other type of physicalexpression to the user that adds emphasis to the written email.

The exosuit may provide visual, audio, or haptic feedback or cues toinform the user of various exosuit operations. For example, the exosuitmay include vibration motors to provide haptic feedback. As a specificexample, two haptic motors may be positioned near the front hip bones toinform the user of suit activity when performing a sit-to-standassistive movement. In addition, two haptic motors may be positionednear the back hip bones to inform the user of suit activity whenperforming a stand-to-sit assistive movement. The exosuit may includeone or more light emitting diodes (LEDs) to provide visual feedback orcues. For example, LEDS may be placed near the left and/or rightshoulders within the peripheral vision of the user. The exosuit mayinclude a speaker or buzzer to provide audio feedback or cues.

In other instances, the interaction of the FLA's with the body throughthe body harness and otherwise can be used as a form of haptic feedbackto the wearer, where changes in the timing of the contraction of theFLA's can indicate certain information to the wearer. For instance, thenumber or strength of tugs of the FLA on the waist could indicate theamount of battery life remaining or that the suit has entered a readystate for an impending motion.

Retail/Service/Studio Setting

A wearer's first interaction with the assistive exosuit may be within asetting such as a retail location, dealership, clinic, or specialtyservice provider where an exosuit system is specified or selected for anindividual wearer. Alternatively, a sales representative or technicianmay make a home visit or meet the wearer in an appropriate setting suchas a clinic, athletic facility, or in the community. Specification orselection of the exosuit for the individual may comprise selecting fromone of a number of sizes of suits or components, or determining customsizing or figment, as well as specific features, functionality or otherrequirements of the system for the specific wearer, based on theirindividual needs. For example, an elderly but otherwise able-bodiedwearer may require a suit that provides assistance for activities suchas standing from a seated position, maintaining posture while standing,and walking. While this wearer may be able to perform these activitiesunassisted, the assistive exosuit system can enable this wearer toperform these activities for longer durations with reduced fatigue.Other wearers may have different requirements for sizing of the suit orcomponents, activities to be performed, amount of assistance required,controls needed by the wearer, or the type of data and information to berelayed to the wearer, caregivers, or others.

The studio may be equipped with features that make fitting and testingthe exosuit easier for the prospective wearer and support staff. Forinstance, the studio can have a network that connects to the suit andshares information about the wearer in real time on screens and in otheruseful applications to customize or otherwise facilitate the experienceof the suit for a customer. The studio can have screen displays or otherphysical displays like lights and sound that link to the movement of thesuit to help the wearer acclimate to controlling it. The studio can alsohave a build in ‘obstacle’ course or demo setting for testing the use ofthe suit. The suit control can be linked to experiences in the studio.

Reflex Control

The control of the exosuit may also be linked to the sensors that aremeasuring the movement of the wearer, or other sensors, for instance onthe suit of another person, or sensors in the environment. The motorcommands described herein may all be activated or modified by thissensor information. In this example, the suit can exhibit its ownreflexes such that the wearer, through intentional or unintentionalmotions, cues the motion profile of the suit. When sitting, for furtherexample, the physical movement of leaning forward in the charge, as ifto indicate an intention to stand up, can be sensed by the suit IMU'sand be used to trigger the sit to stand motion profile. In oneembodiment, the exosuit may include sensors (e.g., electroencephalograph(EEG) sensor) that are able to monitor brain activity may be used todetect a user's desire to perform a particular movement. For example, ifthe user is sitting down, the EEG sensor may sense the user's desire tostand up and cause the exosuit to prime itself to assist the user in asit-to-stand assistive movement.

User Cues

The suit may make sounds or provide other feedback, for instance throughquick movements of the motors, as information to the user that the suithas received a command or to describe to the user that a particularmotion profile can be applied. In the above reflex control example, thesuit may provide a high pitch sound and/or a vibration to the wearer toindicate that it is about to start the movement. This information canhelp the user to be ready for the suit movements, improving performanceand safety. Many types of cues are possible for all movements of thesuit.

Machine Learning/AI

Control of the suit includes the use of machine learning techniques tomeasure movement performance across many instances of one or of manywearers of suits connected via the internet, where the calculation ofthe best control motion for optimizing performance and improving safetyfor any one user is based on the aggregate information in all or asubset of the wearers of the suit. The machine learning techniques canbe used to provide user specific customization for exosuit assistivemovements. For example, a particular user may have an abnormal gait(e.g., due to an car accident) and thus is unable to take even strides.The machine learning may detect this abnormal gait and compensateaccordingly for it.

Undergarment Assistive Exosuit System

FIGS. 1A-1F illustrate an undergarment assistive exosuit (UAE) systemaccording to some embodiments of the present disclosure. In someembodiments, an UAE system is intended to be worn under the wearer'sclothing, and to focus on physical assistance for core muscles of thebody. This embodiment is also a base for extension to embodiments thatprovide physical assistance with other body sites, including joints ofthe shoulders, elbow, wrist, and hands, and the knee, ankles, and feet.The description below is only for the focus on the body core.

FIG. 1A shows a front view of a UAE according to some embodiments of thepresent disclosure. The Base Layer, extending from the shoulders to justabove the knees, comprises compliant spandex panels (101) and flexibleyet substantially inextensible load distribution members (102). The loaddistribution members (102) transfer loads from the stability and powerlayers to the wearer's shoulders, waist and thighs. In this embodiment,the load distribution members (102) comprise a substantiallyinextensible material arranged in a plurality of curves. The curvesgenerally approximate catenary curves, in order to evenly distributeloads from the stability and power layers. The load distribution memberscomprise an inner surface that resists slipping along the wearer's body.The arrangement of the load distribution members causes them toconstrict on the wearer's body when subjected to loading, furtherenhancing their grip and resistance to slipping along the wearer's body.

Flexible linear actuators (FLAs) (103) positioned on the fronts of thethighs approximate the hip flexors. An FLA is a powered actuator capableof generating a tensile force between two attachment points, over a givestroke length. An FLA is flexible, such that it can follow a contour,for example around a body surface, and therefore the forces at theattachment points are not necessarily aligned. Electronic components ofthe power layer and sensor and controls layer are housed in enclosures(104) on the hips. The enclosures (104) can be integrated with the baselayer with padding, insulation and textile components for comfort,aesthetics and protection of the components or wearer. For example,fire- or heat-resistant materials may be used around electronics orbatteries. Lacing (110) along the sides of the torso and thighs adjustsoverall size of the base layer.

FIG. 1B shows a back view of the UAE according to some embodiments ofthe present disclosure. Again, load distribution members (102) at theshoulders, waist, and thigh transfer loads to the base layer andwearer's body. Four FLAs (105) approximate the hip extensor muscles,with two FLAs configured in parallel per hip. The pair of FLAs (105) ateach hip are each connected to a tendon element (106) to attach the pairof FLAs to the Load distribution members (102) at the waist. Thus, thecombination of the pairs of FLAs (105) and tendons (106) connect betweenthe load distribution members (102) of the thighs and the waist suchthat when the FLAs are actuated (tightened), an extension moment isgenerated at the hip. The tendon elements (106) in this example caninclude webbing with adjustment elements (108) so that the length of thetendon elements can be adjusted to optimize the stroke of the FLAs (105)to the wearer's body. Two FLAs (107) attach in parallel to the loaddistribution members (102) at the shoulders and the waist thusapproximating spinal extensor muscles (e.g. for postural support).

FIG. 1C shows a side view of the UAE according to some embodiments ofthe present disclosure. In the side view, the load distribution membersapproximating the hip flexors (103), hip extensors (105) and spinalextensors (107) are all shown, with the hip extensor FLAs (105) attachedto the adjustable tendon elements (106). Electronic components of thepower and sensor and controls layers are housed in enclosures (104) thatare integrated into the textile base layer. An adjustable shoulderharness (109) attaches to the Load distribution members (102) at theshoulders and waist. Lacing (110) along the sides of the torso andthighs adjusts overall size of the base layer.

FIG. 1D shows a front view of the UAE according to some embodiments ofthe present disclosure. In FIG. 1D, the power layer and sensor andcontrols layers are removed to show the stability layer. Two elasticelements (111) of the stability layer approximate hip flexors, attachingto the load distribution members (102) at the waist and thighs. In thisexample, the elastic elements (111) are strips of silicone covered withspandex fabric. In some embodiments, the elastic element (111) may bemade of any other suitable material. In other examples, the elasticelements of the stability layer may be formed more integrally with thebase layer.

FIG. 1E shows a back view of the UAE according to some embodiments ofthe present disclosure. In FIG. 1E the power layer and sensor andcontrols layer are removed to show the stability layer. An elasticelement of the stability layer (112) approximating the hip extensors orgluteal muscles attaches to the load distribution members (102) at thewaist and thighs. Another elastic element of the stability layer (113)approximating the spinal extensors attaches to the load distributionmembers (102) at the shoulders and waist. As in FIG. 1D, the elasticelements (112, 113) are made of silicone covered with fabric, however inother embodiments the elastic elements may be formed more integrallywith the base layer. In some embodiments, the elastic elements (112,113) may be made of any other suitable material. The elastic elementsare typically configured such that moving from a first position to asecond position stretches the elastic elements, generating forces biasedto return the wearer to the first position. This may provide stabilityin the first position, or assist the wearer when moving from the secondto the first position. In one example, the first position is a standingposition and the second position is a seated position. The elasticelements of the stability layer approximating the hip flexors, hipextensors and spinal extensors (111, 112, 113) are configured with asmall, nominal preload in the standing (first) position. Small movementsfrom the standing posture can stretch one or more elastic elements ofthe stability layer, creating one or more forces biased to restore thefirst position. For example, leaning forward can stretch the hipextensor and spinal extensor elastic elements (112, 113), generatingforces biased to restore the standing posture. Conversely, leaningbackwards can stretch the hip flexor elastic elements (111), generatingforces biased to move the torso forward and again restore the standingposture. Thus, in these scenarios the elastic elements of the stabilitylayer provide stability in the first, standing position. Moving to asecond, seated position can stretch the hip extensor and spinal extensorelastic elements (112, 113). These stretched elastic elements (112, 113)can generate forces biased to move the wearer back into the firststanding position. While the wearer is seated, the elastic elements aremaintained in their stretched state, such that the force is maintainedand energy is stored in the elastic elements while the wearer is in thesecond, seated position. When the wearer desires to return to thestanding position, the stored energy and force generated in the elasticelements can assist the wearer.

FIG. 1F shows a side view of the UAE according to some embodiments ofthe present disclosure. In FIG. 1F, the power layer and sensor andcontrols layer are removed to show the stability layer. Elastic elements(111, 112, 113) of the stability layer approximating the hip flexors,hip extensors and spinal extensors are attached to the load distributionmembers (102) at the thighs, waist, and shoulders.

FIGS. 1G-1I show illustrative front, back, and side views, respectively,of the base layer without the presence of the stability or power layers.FIGS. 1G-1I, in particular, show thigh distribution member 120, thighdistribution member 130, and lower torso distribution member 140. Thighdistribution member 120, thigh distribution member 130, and lower torsodistribution member 140 are the same as distribution members 102,discussed above, but have been relabeled for further discussion. Thighdistribution member 130 can include stays 131 and 132 that run along thelength of the thigh and are attached to a series of straps 133 that spanthe inside of the thigh and to another series of straps 134 that spanthe outside of the thigh. When a force (e.g., an upward force indirection of the hips) is applied to stays 131 or 132, the load istransferred through straps 133 and 134. Additional straps, such asstraps 135, may encircle the thigh, but are not coupled to stays 131 and122. Straps 135 may be coupled to other stays such as stays 138 and 139.Some of straps 133 and 134 may be coupled to stays 138 and 139, inaddition to stays 131 and 132. When a force (e.g., an upward force indirection of the hips) is applied to stays 138 or 139, the load istransferred through straps. Fasteners 136 and 137 may exist on stays 131and 132, respectively.

Thigh distribution member 120 can include stays 121 and 122 that runalong the length of the thigh and are attached to a series of straps 123that span the inside of the thigh and to another series of straps 124that span the outside of the thigh. When a force (e.g., an upward forcein direction of the hips) is applied to stays 121 or 122, the load istransferred through straps 123 and 124. Addition straps, such as straps125, may encircle the thigh, but are not coupled to stays 121 and 122.Straps 125 may be coupled to other stays such as stays 128 and 129. Someof straps 123 and 124 may be coupled to stays 128 and 129, in additionto stays 121 and 122. When a force (e.g., an upward force in thedirection of the hips) is applied to stays 128 or 129, the load istransferred through straps 123, 124, and 125. Fasteners 126 and 127 mayexist on stays 121 and 122, respectively.

Lower torso distribution member 140 may be distributed around part ofthe waist, back, and hips of the wearer. Distribution member 140 caninclude stays 141-145. Straps 146 may be coupled to stays 141 and 142.Stays 141 and 142 may include several slots 158 that can be used tosecure FLAs 103 in place. Inclusion of several slots allows the wearerto place an end of FLA 103 at a position that provides the best fit.Stay 145 may also include several slots 157 that can be used to secureFLAs 107 in place. Straps 147 may be coupled to stays 142 and 143, andstraps 148 may be coupled to stays 144 and 141. Straps 149 may becoupled to stays 143 and 145, and straps 150 may be coupled to straps145 and 144. When forces are applied to one or more of stays 141-145,the load is distributed through lower torso distribution member 140.Stays 141 and 142 may include fasteners 152 and 153. Stays 143 and 144may include adjustment elements 108 and fasteners (not clearly shown asthey are obscured by adjustment elements 108). Stay 145 may includefasteners 156.

One of elastic elements 111 may be connected to fasteners 126 and 152,and another one of elastic elements 111 may be connected to fasteners136 and 153. The inclusion of several fasteners for each stay mayprovide flexibility and fitting the wearer of the exosuit. Elasticelement 112 may be connected to fasteners on each of thigh distributionmember 120, thigh distribution member 130, and lower torso distributionmember 140. Elastic element 113 may be connected to fasteners on lowertorso distribution member 140 and yoke distribution member 160 (shownbelow in FIG. 1K).

FIG. 1J shows an illustrative chassis strap system 170 that constructedto be worn around the lower torso region of the wearer and on top ofload distribution member 140. Chassis strap system 170 may includeelectronics 104, tendon elements 106, FLAs 103, 105, and 107. Afterchassis strap system 170 is dinned by the wearer, FLAs 103 and 105 maybe attached to thigh distribution members 120 and 130. One of FLAs 103may be attached to stays 121 and 141 and the other one of FLAs 103 maybe attached to stays 131 and 142. This way, FLAs 103 are attached to twodifferent load distribution members (e.g., distribution members 140/120and distribution members 140/130). When FLAs 103 are activated, atension force pulls the thighs and torso together to assist in hipflexor movement. For example, when the left thigh FLA 103 is activated,the tension force pulls on stays 131 and 143 to pull the thigh in a hipflexor movement. The forces on stays 131 and 143 are distributedthroughout distribution members 130 and 140.

FLAs 105 may be attached to stays 128, 129, 138, and 139 and tendonelements 106. Tendon elements 106 may be connected to adjustmentelements 108. Attaching one end of FLAs 105 to tendon elements 106enables FLAs 105 to be secured to torso distribution member 140. Thepositioning of tendon element 106 can be adjusted via adjustableelements 108 to provide the best fit for the wearer. Thus, the leftthigh FLAs 105 are attached to stays 138 and 139 and to torso loaddistribution member 140 via tendon element 106. The right thigh FLAs 105are attached to stays 128 and 128 and to torso distribution member 140via tendon 106. When FLAs 105 are activated, they apply a hip extensorassistance movement between torso distribution member 140 and thighdistribution members 120 and 130. When the left thigh FLAs 105 areactivated, the tension force generated by these FLAs are distributedthrough torso distribution member 140 and thigh distribution member 130.When the right thigh FLAs 105 are activated, the tension force generatedby these FLAs are distributed through torso distribution member 140 andthigh distribution member 120.

FIG. 1K shows yoke distribution member 160 disposed around an uppertorso portion of a user. Adjustable shoulder harness 109 is attached tothe yoke distribution member 160 and torso distribution member 140.Lacing 110 along the sides of the torso and can be adjusted to fitshoulder harness 109 to the wearer. Yoke distribution member 160 caninclude stays 161-163. Stays 161 and 162 may be coupled to FLAs 107.Stay 163 may include fasteners 165. Fasteners 165 and 156 (FIG. 1H) maybe used to secure elastic member 113 (shown in FIG. 1E).

Yoke member 160 can include straps 166 that run along the back of thewearer. Any number of straps 166 may be used, and the embodiment shownin FIG. 1K has 4 such straps. Each of straps 166 may be coupled shoulderharness interfacing straps 167, which connect to shoulder harness 109.Shoulder harness interfacing straps 167 may pivot or move relative tostraps 166 to accommodate different sized users.

FLAs 107 can be coupled to stays 161 and 162 of yoke distribution member160 and to stay 145 of torso distribution member 140. When FLAs 107 areactivated, they provide the exosuit with postural support or spinalextension. In particular, when FLAs 107 apply force tension, they pulldown on yoke distribution member 160 and pull up on torso distributionmember 140. Thus, the load caused by the force tension applied FL As 107is distributed across yoke distribution member 160 and torsodistribution member 140.

Outerwear (Over-the-Clothes) Assistive Exosuit System

FIGS. 2A-2E illustrate an outerwear assistive exosuit (OAE) system thatis intended to be worn over the wearer's clothing according to someembodiments of the present disclosure.

FIG. 2A shows a front view of the OAE according to some embodiments ofthe present disclosure. A shoulder harness (201) with cross-straps (202)attaches to the wearer's upper body. Tension lock fittings (203) allowadjustment of the size and tightness of the shoulder harness and crossstraps. Load distribution members (204, 205) encircle the wearer's waistand thighs, respectively. FLAs (206) configured as hip flexors attach atthe waist and thighs. The FLAs may include a rounded, contoured housing(207) around the motor, transmission and spindle assembly for protectionof the components and comfort of the wearer. The twisted strings of theFLAs are housed in braided tubing (208) that protects the strings fromabrasion, tangling or snagging. The FLAs may be further enclosed (209)in fabric or other elements of the OAE for cosmetic integration,protection and comfort. Elastic elements (210) are configured inparallel with the FLA, such that they also mimic hip flexors. Webbing(211) connects the elastic elements (210) to an adjustment fitting(212), which is anchored to the Load distribution members at the thigh(205). The webbing (211) acts as a tendon for the FLAs (206)transmitting force to the leg Load distribution members (205) and alsoacting as a method of shortening and lengthening for wearer heightvariation. Since the elastic elements (210) and FLAs (206) attach to thelower end of the Load distribution members (205), an internal staytransmits compressive loads back up through the Load distributionmembers so that the load is evenly distributed across the thigh withoutrolling the Load distribution member up. This permits use of the fullsurface of the thigh while still maintaining the stroke length for theFLA, as well as providing conformance to the contours of the wearer'sbody without pinching or kinking the FLA or power transmission. An IMUis attached to the front of each thigh (214) so that the sensor andcontrols layer can detect movement of the legs.

FIG. 2B shows the back view of an OAE according to some embodiments ofthe present disclosure. Electronic components (215) including batteries,circuit boards and cables are mounted in a backpack type area of theupper back. The electronics are typically covered with an enclosure orfabric cover (216) for protection and aesthetics. Two FLAs (217)configured in parallel traverse the lumbar spine, mimicking spinalextensor muscles. Four FLAs (218) configured in parallel attach betweenLoad distribution members at the waist and each thigh, mimicking hipextensors or gluteal muscles. Fabric coverings (219) hide the FLAs forprotection and aesthetics. The coverings (219) may be pleated,reticulated or compliant to accommodate length changes of the FLAs.Elastic elements (220) of the stability layer are arranged in parallelwith the FLAs. The elastic elements (220) and FLAs (218) attach to theLoad distribution members via adjustable interconnections (221) allowingthe size or tension to be adjusted to the individual wearer, withwebbing tendons (211) as described above providing the range ofadjustment as well as conformance to the wearer's body.

FIG. 2C shows a side view of the OAE according to some embodiments ofthe present disclosure. One or more side bands (222), five in thisexample, connect between the front and back of the torso portion of theOAE. The one or more side bands are adjustable to accommodate thewearer's size. Tightening the side bands grips the wearer's torso todistribute loads across the suit, effectively functioning as a Loaddistribution member. An easily accessible emergency stop switch (223) islocated on the wearer's chest.

FIG. 2D shows a detailed back view of components of the OAE according tosome embodiments of the present disclosure. The waist Load distributionmember (225) comprises segments of webbing arranged in a biaxial braidwith rivets (233) at the intersections. This arrangement allows the Loaddistribution member to both conform to the wearer's waist, as well asconstrict and grip the wearer's trunk as loads are applied to theattachment points (232). Two groups of four FLAs (224) are arranged inparallel, attached to the load distribution members at the waist (225).Each group of FLAs is attached at the opposite end to the webbingtendons (227) that transmit the FLA forces to Load distribution membersat the thighs (228). Within each group of four FLAs (224), pairs ofdrives are yoked together with brackets (229) mounted on stays (230),which insert into sleeves (231) on the base layer Load distributionmember. The stays transmit compressive loading between the FL As andLoad distribution members, in order to allow optimal, independentplacement and orientation of the FLAs and Load distribution members. Inthis example, the optimal situation of the Load distribution members atthe waist and thighs results in the distance (LFG) between theattachment points (232) of the Load distribution members being muchshorter than the optimal free length (LFD) of the FLAs. The stays (230)permit use of FLAs with an optimal length (LFD), while transmitting theFLA forces to optimal attachment points (232) of the Load distributionmembers.

FIG. 2E illustrates a lumbar or postural bolster as implemented in theOAE according to some embodiments of the present disclosure. The bolstercomprises a semi-rigid panel (234) that follows the contour of the lowerback. When the spinal extensor FLA (235) is actuated, it contracts andshortens from a first length (L1) to a shorter length (L2). The shorterlength (L2) increases the curvature (arrow) of the bolster panel (234),providing increased lumbar and postural support. The bolster is seatedin a pocket in the base layer, with a tongue feature that transverselydistributes the bolster forces throughout the Load distribution membersalong the spine and trunk.

FIGS. 2F-2I illustrate another outerwear assistive exosuit (OAE) system240 that is intended to be worn over the wearer's clothing according tosome embodiments of the present disclosure. FIG. 2F shows anillustrative front view of exosuit 240. FIG. 2G shows a back view of apartially assembled exosuit 240. FIG. 2H shows a back view of anassembled exosuit 240 that does not have any coverings present. FIG. 2Ishows a side view of an assembled exosuit 240 that has coveringspresent. FIG. 2J shows torso support system 280. Each of FIGS. 2F-2Jwill be discussed collectively.

Exosuit 240 can include thigh load distribution members 242 and 244, andtorso support system 250. Thigh load distribution members 242 and 244are constructed to fit around the thighs of the user wearing exosuit 240and each include attachment elements 243 and 245 for securing an end ofhip flexor FLAs 246 and 247 in place. The other end of hip flexor FLAs246 and 247 may be attached to hip flexor anchoring system 251 and 252,respectively, of torso support system 250. Thigh load distributionmembers 242 and 244 can include attachment elements 248 and 249 that canbe secured to extensor anchoring systems 255 and 256. Extensor anchoringsystems 255 and 256 can include straps 257 and 258 that are coupled toattachment elements 248 and 249. Straps 257 and 258 can be adjusted tobest fit the user. Extensor anchoring systems 255 and 256 can alsoinclude anchoring elements 259 and 260 for securing an end of hipextensor FLAs 261-268 in place.

Torso support system 250 can include scissor load distribution member270, spine hub 271, adjustable straps 272, belly bands 273 and 274, FLAstays 275, support structure 280, lumbar pocket 281, shoulder straps283, shoulder adjustment elements 284, chest adjustment straps 285, andchest depth strap systems 286. Scissor load distribution member 270 iscoupled to belly bands 273 and 274 via adjustable straps 272. Bellybands 273 and 274 can be attached together, for example, via a zipper orother coupling device. Belly bands 273 and 274 may be a tri-zoned (ortriple layered) graduated pressure packet that focuses load below thenatural waist of the user and also applies pressure above the naturalwaist (e.g., 1-4 inches or 2 inches above). The tri-zoned constructionof belly bands 273 and 274 enable the bands to apply comfortabletransverse abdominal pressure to the user. A top portion of bands 273and 274 may be constructed from a relatively soft elastic material. Amiddle portion of bands 273 and 274 may be constructed from a materialhaving a first elastic stiffness that is greater than a stiffness of thefirst portion. A bottom portion of bands 273 and 274 may be constructedfrom a material having a second elastic stiffness that is greater thanthe first elastic stiffness. Thus, by varying the stiffness of eachportion belly bands 273 and 274, a graduated change in stiffness isprovided, but not so stiff that no part of the bands 273 and 274 doesnot stretch.

Scissor load distribution member 270, in combination with straps 272 andbelly bands 273 and 274 is operative to distribute forces around thebody of the user when hip extensor FLAs 261-268 are applying theirtension force. One end of the FLAs 261-268 (e.g., such as the motor) maybe coupled to stays 275 and the other end of FLAs 261-268 are coupled toextensor anchoring systems 255 and 256. Scissor load distribution member270 is constructed with a series of pivoting unions that bend, flex,and/or scissor (about the pivots) in response to user movement or FLA261-268 activation. Stays 275 may be positioned on load distributionmember 270 such that they load member 270 near the hip of the user.

Spine hub 271 may be coupled to load distribution member 270 and tolumbar pocket 281 via attachment points 282. Spine hub 271 may bereferred to as a lumbar dreidel because it has a cross-section of a top.Spine hub 271 is operative to support weight of torso support system250, including all components. It does this by driving the FLA forcesand weight of system 250 into load distribution member 270. Spine hub271 can be rigid structure that can provide lumbar support to the user.When spine hub 271 is pulled closer to load distribution member 270, therigidity of the structure can place pressure above and below the lumbarcurve of the user, while simultaneously enabling the user to maintainthe curve.

Lumbar pocket 281 may be relatively rigid material that distributesloads of the lumbar FLAs into spine hub 271 and scissor loaddistribution member 270. In addition, lumbar pocket 281 may be mountedto structure 280 and thereby enables structure 280 to move back andforth (in the same direction a user moves his/her back forward andbackwards with respect to the hips). Lumbar pocket 281 may be coupled tochest depth strap systems 286 via attachment points 287. FLAs (shown inFIG. 2H) can be coupled to lumbar pocket 281 and to either spine hub 271or scissor load distribution member 270. These FLAs may be providespinal extensor assistive movement.

Chest depth strap systems 286 can exhibit a V shape that enablesstructure 280 to remain close to the user's back when the user is movingaround, and in particular, while bending forward. Chest depth strapsystems 286 can include strap 288 that is coupled to a shoulder strap283 and scissor load distribution member 270. Strap 288 runs throughrings 289 a, 289 b, and 289 c. The combination of rings 289 a, 289 b,and 289 c, strap 288, and shoulder strap 283 enables structure 280 tomove in concert with the user's back.

Flexor load strap 253 may exist between hip flexor anchoring system 251and 252. Flexor load strap 253 may have a buckle for easy donning anddoffing. Strap 290 is attached to hip flexor anchoring system 252 andscissor load distribution member 270 (or spine hub 271). The combinationof straps 253 and 290 and system 252 enable forces created by flexor FLA247 to be transversely distributed into load distribution member 270 andthigh load member 244. A strap similar to strap 290 may be attached tohip flexor anchoring system 251 and scissor load distribution member 270(or spine hub 271).

FIG. 3 shows a retail and customer service setting for the exosuitsystem according to some embodiments of the present disclosure. In comeembodiments, the retail and customer service setting may also bedescribed as a studio. A touchscreen display (301) provides aninteractive setting for a wearer to initiate configuration of the suit,such as whether the purpose of the suit is for health/wellness,sports/activity, or other habit/lifestyle purposes. Several exosuits andexosuit components are on display (302). These may be “off-the-shelf”suits and components to configure a suit that is appropriate for thewearer, which may include different shapes or sizes to accommodate forindividual wearers of different anthropometry, biomechanics orkinematics. The suit configured with these components may either be aprovisional suit used to optimize a custom suit for the wearer, or theymay represent the final suit. A representative, sales associate, ortechnician is shown interacting with a wearer (302) to configure andoptimize an exosuit, as well as train the wearer in its operation. Eachlayer of the exosuit may incorporate some adaptation (customization andoptimization). The base layer can be adapted to the wearer's size,comfort requirements, and other specific aspects of the desired use,such as whether it is to be worn over or under the wearer's clothing.The stability layer can be adapted for the appropriate amount ofstability to be provided to different parts of the body, based on thewearer's physical characteristics and expected activities. Likewise, thepower layer can be adapted to provide the amount of assistance desiredfor different parts of the body in different activities. The length,speed, and strength of the FLA powered actuators may be selected oradjusted to optimize these parameters. The wearer may perform a specificset of activities so that the sensor and controls layer can calibrateitself and adapt to the wearer's patterns of movements.

FIG. 4 outlines a process for adapting the assistive exosuit to a weareraccording to some embodiments of the present disclosure. In someembodiments, the process can be modified by, for example, having stepscombined, divided, rearranged, changed, added, and/or removed. Thisprocess may be integral to the retail and service experience describedabove. First, with input from a wearer or their assistant (e.g.companion, caregiver, or anyone else assisting the wearer in obtainingthe exosuit), the primary uses and activities that the suit can beintended to assist (401) are selected. The wearer is then assessed forconfiguration of the exosuit components and parameters such as size,powered actuator/FLA strength and speed, requirements of the sensors andcontrols layer, and user interface (402). This may also includeidentification of the wearer from a group of body types based on theirgeneral proportions. An exosuit is then configured, optimized to thewearer (403). The wearer can then be instructed to don (put-on) theconfigured exosuit, which may be either a provisional or final suit thatthe wearer can use (404). The wearer can then be trained in the initialoperation of the suit (405), and instructed to perform standardizedactivities (406) to optimize and calibrate the sensors and controllayer, as well as confirm that the configuration is appropriate (407).If a provisional suit was initially used, the final suit can then beprepared (408). The wearer, as well as a caregiver or companion, ifapplicable, can then be trained in advanced suit functionality (409).The wearer may be instructed to return to the retail or service centerperiodically or as-needed for re-calibration, optimization ormaintenance of the suit (410), which may be performed on-site, orvirtually through remote connections to the suit. Remote connections tothe suit may additionally enable a service center to monitor status ofthe suit, remotely upgrade software, or notify the wearer if service isneeded. In one embodiment, the process described above is performed by aone or more computational systems or databases. In another embodiment,the process described above is performed by providing a combination oftraining, collateral, instrumented or computational systems, or otherservices, by a manufacturer, distributor, franchise or licensee.

FIG. 5 shows an example assistive exosuit system platform incorporatinga communication network according to some embodiments of the presentdisclosure. As shown, a wearer with an assistive exosuit (501) is atlarge in the community or a residence (502). A wireless communicationlink (503) is established between the exosuit and a network, such as acellular network or home wireless internet connection (504). The networkconnection enables connection to a personal electronic device such as atablet or smartphone (505) or PC (506). These can allow the wearer,their companion or caregiver to adjust configurations of the suit(particularly the sensors and controls layer), as well as monitor datarelated activity levels, the wearer's health, etc. The networkconnection also enables monitoring and control by one or more remotecenters (507) such as a clinical office or service center.

The exosuit system may include other communication systems such asBluetooth or radio-frequency identification (RFID) that allowcommunication with devices or systems in close proximity to the suit orwearer. These features may enable assistive or lifestyle conveniencefunctionality such as digital identification of the wearer. In oneexample, the exosuit system is able to confirm the identity of theindividual wearer by detecting unique characteristics of the wearerthrough the sensors and control layer. The individual characteristicsmay include patterns of movement such as gait or cadence, body size ormorphometry, forces sensed by the suit, and the like. The exosuit systemmay then verify the wearer's identity to other system such as personalelectronics, internet and computer log-ins, banking equipment (ATMs,retail payment systems, etc.), home security systems, door locks,automobile locks and ignition systems, etc. Communication links such asBluetooth can enable direct communication with electronic devices suchas smartphones, tablets and PCs without connection through the broaderinternet. These connections may be used for functionality as describedabove.

Pre-programmed activity or motion profiles enable the sensors andcontrols layer to actuate components of the power layer for specificactivities. While the activity/motion profiles are generallypre-programmed, they may be calibrated or adapted to individual users asdescribed previously. In the following examples, actuators are typicallyidentified by the corresponding muscle groups (e.g. hip flexor, hipextensor, or spinal extensor). Continuing the muscle analogy, actuationof the FLAs corresponds to transition to a contracted state; whiledeactivation corresponds to transition to an extended state. The motionprofiles discussed below in connection with FIGS. 6A-6I may beimplemented in an exosuit including several sensors, several loaddistributing members, and several FLAs that are coupled to and operativeto apply forces between the load distributing members such that theexosuit provides assistance in one or more of spinal extensor, hipextensor, and hip flexor muscle movements

FIG. 6A illustrates a sit-to-stand activity/motion profile according tosome embodiments of the present disclosure. The motion and actuation ofthe FLAs or powered actuators of the power layer are illustrated inschematic (600A), tabular (600B), and graphical (600C) format. In oneexample, the hip flexor (603) is actuated to lean the wearer's torsoforward and briefly held in this position (605). This forward lean bothcues the wearer that the standing motion is about to initiate, as wellas moves the wearer's center of gravity forward, over their feet. Thisis referred to as the Lean Forward (613) phase as the torso leansforward, and the momentum transfer phase (614) as the wearers weight istransferred from the seat to their feet. Next, in the extension and liftphase (615) the hip extensors (601) and spinal extensors (616) areactuated (607, 610) as the hip flexors (603) are deactivated (606),assisting the wearer as they rise into a standing position. In thestanding phase (617) the hip extensors (601) and spinal extensors (616)are held in an actuated state (608, 611) while the wearer assumes abalanced standing posture. The hip extensors (601) and spinal extensors(616) are then deactivated (609, 612) to allow freedom of movement inthe standing posture. In this example, tendon components (602) are shownin series with the hip extensors (601). The tendons (602) transmittensile loads, allowing the FLAs to operate across spans longer than theFLAs, as well as enabling optimal placement of the FLAs for comfort andfunctionality.

FIG. 6B illustrates a stand-to-sit motion/activity profile according tosome embodiments of the present disclosure. In the initial contract andstabilize phase (618), the spinal extensors (616), hip extensors (601)and hip flexors (603) are all actuated (621, 622, 623) to providestability to the wearer prior to initiating movement, as well as to cuethe wearer that the movement is about to start. After a brief hold forstability (624), in the controlled descent phase (619) the hip extensorsare deactivated (625) while additional actuation of the hip extensors(626) assist the wearer during descent and transition to the seatedposition. In this way, the exosuit provides assistance analogouseccentric muscle activity. In the final phase (620), the spinalextensors and hip flexors deactivate (627), allowing the wearer to relaxin the seated position.

FIG. 6C illustrates profiles or modes for postural and stability supportaccording to some embodiments of the present disclosure. Posturalsupport (628) in the standing or seated position typically involvesactuation (631) of the spinal extensors (616). Actuation of the spinalextensors typically reduces thoracic kyphosis (forward bending) orincreases lumbar lordosis (backward bending), moving the head backwardsuch that the upper body is in a more balanced posture over the hips.Support maintaining this posture can reduce fatigue and increase comfortin both the standing and seated positions. When the postural support isno longer needed or if another motion or activity is to be performed,the spinal extensors may be deactivated (632).

In a passive standing hip stability mode (629), elastic supports (633)analogous to the hip flexors and hip extensors maintain passivestability of the hips. The elastic supports (633) are typicallycomponents of the stability layer. The elastic supports (633) may beengaged or adjusted manually such as by tensioning a strap, or by simplycoupling or uncoupling the supports from anchors on the suit such assnaps or other fasteners. As described further below in FIG. 6E, theelastic supports may be engaged, disengaged and adjusted using acombination of powered actuators and clutches. Likewise, the activesupports described here may be used in combination with elastic supportsand clutching mechanisms.

Standing, active hip stability (630) may be provided by simultaneousactuation (634) of the hip flexors (603) and hip extensors (601). Thisis analogous to simultaneous, isometric contraction of the hip flexorand extensor muscles to stabilize the joint in the standing position.When active hip stability is no longer required, the hip flexors and hipextensors simultaneously deactivate (635). Different modes or amounts ofhip stability support may be provided, such as high, medium or lowamounts or support; or variable support depending on the instantaneousneeds of the wearer. The amount of support may be determined by wearercharacteristics such as height, weight, age and strength; or may beactively controlled by the sensors and controls layer. For example, datafrom one or more inertial measurement units (IMUs) may indicate a levelof active stability needed to assist the wearer.

FIG. 6D illustrates a profile or mode for gait assistance according tosome embodiments of the present disclosure. In gait assistance, the hipflexor (603) and hip extensor (601) FLAs act in conjunction tocyclically assist moving the legs forward and backward during a gaitcycle (walking). FLA actuation of a single leg during gait assistance isshown graphically (643). During a single gait cycle (636) beginning fromthe mid-swing position (644), the leg is swung forward by simultaneouslyactuating the hip flexors (637) and deactivating the hip extensors(638). Typically beginning at heel-strike (645), the hip flexors arethen deactivated (639) while the hip extensors are actuated (640),moving the leg back through the stance phase (646). Then, typically attoe-off (647), the hip flexors are again actuated (641) while the hipextensors are deactivated (642), initiating the swing phases, andreturning the leg to mid-swing, where the cycle repeats. The oppositeleg is actuated in the same manner, but in the opposite phase—i.e., oneleg can have the hip flexors actuated during the swing phase, while theopposite leg has the hip extensors actuated during the stance phase.

The gait cycle may be manually initiated and controlled by the wearervia user interface controls, or automatically initiated and controlledby the sensors and controls layer. For example, sensors such as IMUs maydetect that the wearer is walking, control algorithms determine theappropriate assistance to be provided during the gait cycle, and theFLAs are actuated accordingly.

FIG. 6E illustrates an embodiment of a process for executingsit-to-stand assistance. One or more inertial measurement units (IMUs)sense the wearer leaning forward (648). A controller or centralprocessing unit (CPU) interprets the forward lean as the wearerinitiating a sit-to-stand movement (649). Alternatively, the wearercould indicate to the exosuit system via a user interface that they areabout to perform a sit-to-stand movement. The controller or CPU thenoperates the exosuit to assist with the sit-to-stand movement (650),typically by actuating one or more FLAs or clutch elements according toa motion profile as described above.

In one embodiment, the sit-to-stand assistance movement may beimplemented as follows. The FLAs responsible for hip flexor assistancemovement (the hip flexor FLAs) may be activated to initiate a leanforward movement of a torso of a body. The hip flexor FLAs increaseforce tension until a hip flexor force reaches a hip flexor holdingforce threshold. The hip flexor force can be maintained at the hipflexor holding force threshold for a first period of time. The FLAsresponsible for hip extensor assistance movement (the hip extensor FLAs)may be activated prior to an end of the first time period to initiate alift movement of the body. The hip extensor FLAs increase force tensionuntil a hip extensor force reaches a hip extensor holding forcethreshold. The FLAs responsible for spinal extensor assistance movement(the spinal extensor FLAs) may be activated to assist in the liftmovement of the body. The spinal extensor FLAs increase force tensionuntil a spinal extensor force reaches a spinal extensor holding forcethreshold. The hip flexor FLAs may be deactivated at the end of thefirst period time such that hip flexor FLAs decrease force tension tofurther assist in the lift movement of the body. Deactivation of the hipflexor FLAs decreases the hip flexor force relative to increases to thehip extensor and spinal extensor forces. When the sensors detect thatthe body is standing, the hip extensor FLAs may be deactivated and thespinal extensor FLAs may be deactivated.

FIG. 6F illustrates an embodiment of a process for executing gait(walking) assistance. One or more IMUs sense forward motion or legmovement of the wearer (651). The controller or CPU interprets theforward motion or leg movement as the wearer initiating a gait cycle,i.e. beginning to walk (652). Alternatively, the wearer could indicateto the exosuit system via a user interface that they are beginning towalk. The controller or CPU then operates the exosuit to assist withwalking or gait assistance, typically by actuating one or more FLAs orclutch elements according to a motion profile as described above (653).

In one embodiment, the gait assistance movement may be implemented asfollows. For a first leg, the FLAs responsible for hip flexor assistancemovement associated with the first leg the second leg flexor FLAs andthe FLAs responsible for hip extensor assistance movement associatedwith the first leg (the first leg hip extensor FLAs) may bealternatively activated and deactivated. For a second leg, the FLAsresponsible for hip flexor assistance movement associated with thesecond leg (the second leg hip flexor FLAs) and the FLAs responsible forhip extensor assistance movement associated with the second leg (thesecond leg hip extensor FLAs) may be alternatively activated anddeactivated. The activation and deactivation of the second leg flexorFLAs and the second leg hip extensor FLAs are out of phase with respectto the activation and deactivation of the first leg flexor FLAs and thefirst leg hip extensor FLAs. The first leg extensor FLAs may besimultaneously activated in conjunction with activation of the secondleg hip flexor FLAs, and the second leg flexor FLAs may besimultaneously activated while deactivating the second leg hip extensorFLAs. For the first leg, when the first leg extensor FLAs exert amaximum extensor force, the first leg flexor FLAs may exert no force,and when the first leg flexor FLAs exert a maximum flexor force, thefirst leg extensor FLAs may exert no force.

FIG. 6G illustrates an embodiment of a process for executing standingpostural support assistance. One or more IMUs sense that the wearer isstanding relatively still (654). The controller or CPU interprets fromthe IMU data that the wearer is standing relatively still and thatpostural support should be provided (655). Alternatively, the wearercould indicate to the exosuit system via a user interface that they arestanding still and postural support is desired. The controller or CPUthen operates the exosuit to assist with postural support, typically byactuating one or more FLAs or clutch elements according to a motionprofile as described above (656).

In one embodiment, the stand-to-sit assistance movement may beimplemented as follows. The FLAs responsible for spinal extensorassistance movement (the spinal extensor FLAs) may be activated toincrease lumbar lordosis. The spinal extensor FLAs may increase forcetension until a spinal extensor force reaches a spinal extensor holdingforce threshold. The spinal extensor FLAs may be deactivated in responseto determining that postural stability is not required. Posturestability may be further enhanced by executing hip stability, which caninclude simultaneously activating the FLAs responsible for hip flexorassistance movement (the hip flexor FLAs) and the FLAs responsible forhip extensor assistance movement (the hip extensor FLAs). The hip flexorFLAs can increase force tension until a hip flexor force reaches a hipflexor holding force threshold, and the hip extensor FLAs increase forcetension until a hip extensor force reaches a first hip extensor holdingforce threshold. The hip flexor holding force threshold may be definedaccording to a hip stability mode that includes at least two differentamounts of support, and wherein the hip extensor holding force isdefined according to the hip stability mode. The hip flexor holdingforce threshold and the hip extensor holding force may be based oninputs received from the sensors.

FIG. 6H illustrates an embodiment of a process for executing assistancewith a stand-to-sit motion. One or more IMUs sense motion of the wearer(657). The controller or CPU interprets the motion as the wearerinitiating a stand-to-sit movement (658). Alternatively, the wearercould indicate to the exosuit system via a user interface that they arebeginning to walk. The controller or CPU then operates the exosuit toexecute stand-to-sit assistance, typically by actuating one or more FLAsor clutch elements according to a motion profile as described above(659).

In one embodiment, the stand-to-sit assistance movement may beimplemented as follows. The FLAs responsible for hip flexor assistancemovement (the hip flexor FLAs), the FLAs responsible for hip extensorassistance movement (the hip extensor FLAs), the FLAs responsible forspinal extensor assistance movement (the spinal extensor FLAs) may besimultaneously activated. The hip flexor FLAs increase force tensionuntil a hip flexor force reaches a hip flexor holding force threshold,wherein hip extensor FLAs increase force tension until a hip extensorforce reaches a first hip extensor holding force threshold, and thespinal extensor FLAs may increase force tension until a spinal extensorforce reaches a spinal extensor holding force threshold. The hip flexorforce may be maintained at the first hip flexor holding force threshold.The hip extensor force may be maintained at the hip extensor holdingforce threshold. The spinal extensor force may be maintained at thespinal extensor holding force threshold for a first time period. At anend of the first time period, and during a controlled decent duration,the hip flexor force may be reduced by deactivating the hip flexor FLAs,the spinal extensor force may be maintained at the spinal extensorholding force threshold, and the hip extensor force may be increased toa second hip extensor holding threshold by further activating the hipextensor FLAs. During the controlled decent duration, the reduction inthe hip flexor force and the increase the hip extensor force isproportional to a speed at which the body approaches the sit position.If the sensor detect that the user is sitting, the hip extensor FLAs andthe spinal extensor FLAs may be deactivated.

FIG. 6I illustrates a sit-to-stand activity/motion timing diagramaccording to some embodiments of the present disclosure. FIG. 6Iillustrates a sit-to-stand assistive movement using only hip and spinalextensors, and no hip flexors. At time t1, the exosuit may receive anindication that a sit-to-stand assistive movement is requested. Afterreceiving the request, the exosuit may pre-twist hip extensors 670 andspinal extensors 680 to provide pre-tension of extensors 670 and 680.The pre-twist action may tighten up any slack that may exist within thetwisted strings associated with the FLAs that perform hip and spinalextensor movements. This way, when the user engages his/her own muscles,the FLAs provide immediate support and do not have to “catch up” to theuser. At time, t2, the hip and spinal extensors may be held atrespective first hip extensor hold 671 and first spinal extensor hold681. At time, t3, the hip extensor FLAs may further activate to increasetension from time, t3, to time, t5, as shown by segment 672. At time,t4, the hip extensor FLAs may maintain tension at second hip extensorhold 673. Starting at time, t4, the spinal extensor FLAs may increasetension from time, t4, to time, t6, as shown by segment 682. At time,t5, the spinal extensor FLAs may maintain tension at second spinalextensor hold 683. The hip extensors and spinal extensors are thendeactivated at times, t8 and t7, respectively to allow freedom ofmovement in the standing posture.

FIG. 7 illustrates an example of a sub-system (700) of an assistiveexosuit system and motion profile that incorporates an FLA (FD), clutch(C) and spring (S). In this example, the FLA (FD) and clutch (C) arearranged in parallel, attached at a first end (701) to an anchor on theexosuit and at the second end (702) to one or more springs (S). Theopposite end of the one or more springs (703) is attached to one or moreanchors at a second location on the exosuit. Initially (704), the FLA(FD) is in the deactivated state, the clutch (C) is disengaged, and thespring (S) is in a relaxed state, generating little or no force. In someembodiments, the spring (S) may represent the twisted string that can bewound up or unwound by the FD. When the twisted string is under forcetension, the spring (S) may be represented as being under tension (asshown in phases 711 and 712). When the twisted string is relaxed, thespring (S) may be represented as being relaxed (as shown in phases 710and 713). In another embodiment, the spring (S) may represent an elementthat is completely separate from the FLA. That element may be a springelement such as an elastic band that is attached to the twisted stringof the FLA.

The FLA (FD) is then actuated (705), drawing the second end (702) of theFLA (FD) toward the first end (701) of the FLA. At the same time thespring (S) is elongated, generating a tensile force and potential energy(706) in the spring. Next, the clutch (C) is engaged (707), maintainingthe distance between the first and second ends (701, 702) of the FLA(FD) without further actuation of the FLA. At this point, the spring (S)is still elongated, generating a tensile force and stored potentialenergy.

As the wearer performs an activity or moves (708) into a position thatreduces the distance between the first end (701) of the FLA and oppositeend (703) of the spring, the force and potential energy stored in thespring assist the wearer in the activity or motion, decreasing (709) asthe motion is completed.

In one example, such a subsystem (700) may be configured as a hipextensor for assisting the wearer when moving from a seated to standingposition (sit-to-stand). The first end (701) of the FLA may be anchoredto the torso in the region of the lower back, while the opposite end(703) of the spring may be anchored to the back of the thigh. In theinitial state (710), the FLA (FD) and clutch (C) are deactivated, withlittle or no force in the spring (S) while the wearer is seated. In thenext phase (711) in preparation to stand, the FLA is actuated (705),generating a tensile force and potential energy (706) in the spring. Inthe next phase (712), the clutch (C) is engaged (707), to maintain thespring tension without further actuation or back-driving the FLA. In thenext phase (713), the wearer moves into the standing position. Thetensile force and potential energy stored in the spring assist in thismotion, while the force and tensile energy decrease (709) as the motionis performed and the distance is reduced between the first end (701) ofthe FLA and opposite end (703) of the spring.

Sub-system (700) can be used in an exosuit. Such an exosuit may includea first load distribution member configured to be worn around a firstbody segment of a human, and a second load distribution memberconfigured to be worn around a second body segment of the human. Theexosuit can include a muscle assistance sub-system (e.g., such assub-system 700) coupled to the first and second load distributionmembers. The muscle assistance sub-system can include a first attachmentpoint coupled to the first load distribution member, a second attachmentpoint coupled to the second load distribution member, and a flexiblelinear actuator (FLA) coupled to the first and second attachment points.The FLA can include a motor (e.g., shown as FD in sub-system 700) and atleast one twisted string coupled to the motor and the second attachmentpoint. In this embodiment, the twisted string may serve as the spring(S) in sub-system 700. However, it should be appreciated that a separatespring element may be coupled to the twisted string and to the secondattachment point. The exosuit can include clutch positioned in parallelwith the motor such that it is coupled to the first attachment point anda third attachment point existing between the motor and the secondattachment point. When the clutch is disengaged, a tensile force in theat least one twisted string is maintained by the motor, and when theclutch is engaged, the tensile force in the at least one twisted stringis maintained by the clutch. The exosuit can also include controlcircuitry operative to control operation of the motor and the clutch.

The motor may be operative to increase the tensile force by rotating ina first direction, or the motor may be operative to decrease the tensileforce by rotating in a second direction. The second direction isopposite of the first direction. To save power, the FLA may bedeactivated when the clutch is engaged. When the clutch is engaged andthe tensile force is set at a first tensile force threshold, the FLA maybe deactivated for a first period of time such that if the clutch wereto be disengaged, the tensile force would drop below the first tensileforce threshold, and at an end of the first period of time, the FLA isactivated such that if the clutch where to be disengaged, the tensileforce is maintained at or above the first tensile force threshold.

FIGS. 8A-8C illustrate an assistive exosuit according to someembodiments of the present disclosure. In FIGS. 8A-8C, the assistiveexosuit is extensively or infinitely configurable for testing orprovisional use while optimizing a suit for an individual wearer. Inthese situations—where a suit is used for testing with differentwearers, or where a suit is being configured specifically for anindividual wearer, it may be desirable to adjust the position ororientation of suit components such as power layer FLAs, stability layerelastic elements, and base layer load distribution members. In someembodiments, a provisional/testing exosuit (PTE) includes modularcomponents that can be assembled in extensively or infinitely variedarrangements or configurations for testing purposes or optimization fora specific wearer.

To allow for additional configurable capability of the PTE, a tether mayallow for some electronic and mechanical components to be housed off thesuit. In one example, electronics such as circuit boards and batteriesmay be over-sized, to allow for added configurability or data capture.If the large size of these components makes it undesirable to mount themon the PTE, they could be located separately from the suit and connectedvia a physical or wireless tether to reduce system weight that caninterfere with accurate evaluations of functionality. Larger,over-powered motors may be attached to the PTE via flexible drivelinkages that allow actuation of the power layer without requiring largemotors to be mounted directly on the PTE. Such over-poweredconfigurations allow optimization of PTE parameters without constraintsrequiring all components to be directly attached or integrated into thePTE.

FIG. 8A shows a front view of a PTE according to some embodiments of thepresent disclosure. In this example, the base layer comprises shirt(801) over the arms and trunk, and legging sections (802) over thethighs. The base layer is initially non-structural, and providessurfaces to attach exosuit components. The outer surface of the PTE baselayer ideally is suited to attach modular components, for example withhook and loop fasteners. In this example, the surface of the base layercomprises loops that mate with hooks on the components that are to beattached. Depending on the activities that can be tested or utilized,the base layer may be adapted to different areas of the body such as thelegs, core, arms, etc. The inner surface of the base layer preferablyprovides friction to grip against the wearer's clothing or skin. Thefriction resists forces generated by the power or stability layers suchthat the base layer remains in place along the wearer's body.

Components of the stability and power layers may be modularly positionedand attached to the base layer. In the example of FIG. 8A, two FLAs(803) are attached to the waist and anterior thighs, analogous to hipflexor muscles. The FLAs are attached to the base layer with a pluralityof cords with attached fastener segments, described as load bearingstrap (804) (as discussed in more detail below in connection with FIGS.19A and 19B). In this example, the fastener segments of the load bearingstrap include small pieces of hook-and-loop fastener (hook portion)laminated to supporting structures that are stitched to the cord. Thehook-and-loop fasteners allow the load bearing strap to be easilyattached to the base layer in almost any configuration. Typically, aplurality of fern-tape segments can be attached to ends of the stabilityor power layer components and arranged in configurations such ascatenary curves to create an effective load distribution member anddistribute loads evenly across surfaces of the wearer's body. The loadbearing strap and corresponding components may be removed andrepositioned to optimize the exosuit layout for properties such asbiomechanical performance, comfort, body type or specific activities tobe performed. The power layer may be actuated and controlled via manualcontrols (805) operated by the wearer, by remote controls operated by atechnician, or by automated electronic controls.

FIG. 8B shows a back view of a PTE according to some embodiments of thepresent disclosure. The base layer comprises large elastic segments(806, 807) around the waist and thighs, respectively. In this example, asingle FLA (808) is positioned along the midline of the spine,approximating a spinal extensor. The spinal extensor FLA (808) isattached to the waist with the load bearing strap, and is attached atthe upper end to webbing tendons (809) over the shoulders. The loadbearing strap and webbing allow fast, easy adjustment and optimizationof the position and length of the FLA.

Two FLAs (810) attach at the waist and posterior thighs, approximatinghip extensor or gluteal muscles. The upper ends of the FLAs (810) areattached to the base layer at the waist with fern-tape. The lower endsof the FLAs (810) are attached to webbing tendons. The opposite ends ofthe webbing tendons are then attached to fern-tape fastened to the baselayer at the posterior thighs. A guide feature (812) controls thealignment and routing of the hip extensor FLAs (810) to optimize thelines of action of the FLAs. In this example, the guide is simply a loopof cord that pulls the middle section of the FLAs medially. A guidecould also comprise an eyelet, pulley, hook, track or the like.

Elastic elements (811) of the stability layer are attached to the baselayer at the waist and thigh, also with the load bearing strap. In thisexample, the elastic elements comprise multiple segments of elasticwebbing. Adding or removing elastic segments or adjusting their lengthallows adjustment of the stiffness of the elastic elements. The loadbearing strap and adjustable webbing attachments further allow easyadjustment of the position and size of the elastic elements.

FIG. 8C shows a side view of a PTE according to some embodiments of thepresent disclosure. FLAs (812) approximating hip extensor or glutealmuscles are attached to the base layer (813) at the upper waist with aplurality of load bearing strap segments (814) configured in catenarycurves to create a load distribution member. The lower ends of the FLAs(812) are attached to webbing tendons (815) that transmit forcesgenerated by the FLAs to the thighs, via load bearing strap (816)attached to the base layer (817) at the thighs.

The previous examples generally described assistive exosuits that are tobe worn either under or over the wearer's clothing. In some embodiments,the assistive exosuit itself may be stylized and designed such that itis worn as clothing. FIGS. 9A-9B illustrate such an example of assistiveexosuit primary clothing, in this case a uni-suit assistive exosuit(USAE) according to some embodiments of the present disclosure. The USAEmay represent an integration of two or more of the base layer, stabilitylayer, power layer, and user interface layer.

FIG. 9A shows a front view of a USAE 900 according to some embodimentsof the present disclosure. The USAE in this example extends from justabove the knees to the shoulders, however alternate configurations arecontemplated including covering the lower legs, feet, arms or neckdepending on desired aesthetics and exosuit assistive functionality. Along, 2-way zipper (901) provides opening and closure to facilitatedonning and doffing the suit. Alternatively, the USAE may include largearm and/or neck openings that allow the suit to be dinned and doffedwithout a closure feature. A speaker (902) and microphone (903) offerfunctionality such as voice commands for the wearer to operate the suit,or to act as a mobile communication device. Electrical connections suchas wires and cables can travel through channels (912) embedded in USAE900. Alternatively, conductive materials may be directly woven, braided,printed or otherwise embedded within USAE 900.

USAE 900 may be primarily fabricated from breathable andmoisture-wicking textiles (905), with a form-fitting, ultra-soft basefabric (916). Load distribution members (906 a, 906 b, 906 c, and 906 d)may be integrally attached or embedded in USAE 900. Load distributionmember 906 a may be lower torso load distribution member that canfunction similar to load distribution members 140 and 270 (as discussedabove). Load distribution members 906 b and 906 c may be thighdistribution members that can function similar to load distributionmembers 120, 130, 242, and 244. Load distribution member 906 d may be ashoulder or yoke type of distribution member that can support, forexample, spinal extensor loads. FLAs (908) approximating the right andleft hip flexors can be attached at the waist (at load distributionmember 906 a) and anterior thighs (at load distribution members 906 b or906 c). FLA anchoring systems (913) can be formed integrally formed withload distribution members (906 a, 906 b, 906 c, and 906 d) to supportone or more of the motor component of FLAs 908 and the twisted stringcomponent of the FLAs. The twisted strings of the FLAs can travelthrough integral channels (914) formed with USAE 900.

A detachable (or integral) communication hub (907) may providefunctionality of a UX/UI layer, such as communication with caregivers,companions, clinical staff or service technicians, health and activitymonitoring, or lifestyle features such as identity verification. Customand/or contoured batteries (911) can be integrated in USAE 900, inconfigurations optimized for the wearer's comfort. Inertial measurementunits (IMUs, 915) are attached to the suit in locations to detectapplicable movements. For example, IMU 915 can be positioned on thethighs to detect gait and body position.

An elastic postural support strap (909) component can contour around thehips and trunk to provide core and postural support. Elastic posturalsupport strap 909 may form a double X-shape that crisscrosses the body.For example, support strap 909 may cross near the abdomen region of thesuit and again near the upper back of the suit. Support strap 909 mayalso extend over the shoulders to integrate with load distributionmembers 906 d, and support strap 909 may extend around the thighs tointegrate with load distribution members 906 b and 906 c. Strap 909 mayalso integrate with load distribution members 906 a. One or morediscrete openings 910 near the groin permit use of the toilet withoutremoving the entire suit. In some embodiments, the groin area may becompletely devoid of any layers of the exosuit. In such an embodiment,the user may wear underwear over the suit.

FIG. 9B shows a back view of USAE 900. Custom and/or contoured batteries(911) may be integrally or detachable attached to the suit, for example,near the back of the neck and/or below the shoulders. IMUs (915) may beattached to the upper and lower back to detect trunk position andmovement. One or more FLAs (917) approximating spinal extensor musclescan span from load distribution member 906 d to anchoring system 919 toprovide postural support, with the twisted strings running throughchannels (918) along the spine. One end of postural support FLAs (917)may terminate at FLA anchoring system (919), which efficiently transmitsFLA loads to load distribution member (906 a). FLAs (921) approximatinghip extensors or gluteal muscles are attached near the waist, and inparticular may be attached load distribution member 906 a. The twistedstrings associated with FLAs 921 may run through channels (922) alongthe back of the thighs to anchoring systems (923), which transmit FLAforces to load distribution members (906 b and 906 c).

One or more pressure sensors (925) may be embedded in USAE 900 to detectpressures experienced by the wearer. The pressure sensing may beutilized by the sensors and control layer to adjust USAE 900 forcomfort, or for control of the FLAs to adapt to the specific assistancerequired for different activities.

USAE 900 may employ a modularity system that enables componentstypically associated with the power layer such as the FLAs, channels(e.g., control electronics, sensors, and batteries to be removed fromthe base layer. The base layer may include the fabric worn by the user,the load distribution members (906 a-d), which are integrated or enhanceportions of the fabric, anchor stays, and support straps (such as strap909). The power layer components can be removed for servicing (e.g.,repair, replacement, or battery charging) and the base layer can bewashed. Additional discussion on the modularity of power layercomponents can be found below in connection with the descriptionaccompanying FIGS. 20A, 20B, and 21.

FIG. 10 shows components of a twisted string actuator (TSA) 1000 thatmay form part an FLA according to some embodiments of the presentdisclosure. In FIG. 10, TSA 1000 can include a motor (1001),transmission (1002), rotary position sensor (1003), spindle (1004),thrust-plate (1005) and force sensor (1006). In some embodiments, TSA1000 can include more or less components. The motor (1001) can be a DCmotor, either brushed or brushless with direct commutation. The motorcan be selected for optimal performance and efficiency, based on therequirements of the exosuit for the intended wearer and activity, aswell as the specific details of TSA 1000 such as overall length, strokelength, force, speed and power requirements. The transmission (1002)further enables conversion of the speed and torque of the motor to thatrequired by TSA 1000. The transmission may be geared or use otherlinkages such as belts or flexible couplings, and be optimized forefficiency and acoustics. The rotary position sensor (1003) detectsfractional or full rotations of the motor or transmission for control ofTSA 1000. The rotary position sensor may be a magnetic or opticalencoder with absolute, relative or quadrature signals; a rotarypotentiometer or other similar sensor.

A spindle (1004) is attached to the output of the motor or transmission.The twisted string pair (1007) of the TSA forms a continuous loop arounda dowel (1008) in the spindle. The spindle bears against a thrust plate(1005) that bears the tensile forces generated by the TSA. A forcesensor such as a load cell, thin film resistor, capacitive force sensoror force sensing resistor positioned between the spindle (1004) andthrust plate (1005) senses the tensile load generated by the TSA for useby the sensors and controls layer. A thrust bearing (1009) positionedbetween the spindle and force sensor or thrust plate reduces frictionand protects stationary components such as the force sensor or thrustplate from damage by the rotating components such as the spindle.

FIG. 11 illustrates a force sensor system for TSA 1100 according to someembodiments of the present disclosure. The mechanical componentsincluding motor and transmission (1101) are enclosed in a contouredhousing (1102). Actuation of TSA 1100 generates tensile forces in thetwisted string pair (1103). These tensile forces in turn create acompressive force between the spindle (1104) and housing (1102). Aspring (1105) placed between the spindle (1104) and housing (1101) canbe compressed in response to this compressive load. Compression of thespring (1105) results in displacement of the end of the spring closestto the spindle (1104). This displacement is detectable by a displacementsensor (1106) such as a hall effect sensor, linear encoder,potentiometer or other sensor. The displacement is related to thetensile force in the TSA by the properties of the spring (1105), such asthe spring constant. Thus, the displacement detected by the displacementsensor may be utilized by the sensors and controls layer to calculatethe tensile force in the TSA.

FIG. 12 illustrates a configuration of TSA 1200 that reduces the overalllength required for the TSA assembly according to some embodiments ofthe present disclosure. A motor (1201) has a central channel or bore(1202). The twisted string pair (1203) runs through this central bore1202. This significantly reduces the total length of TSA 1200, as theportion of the twisted string pair (1203) within the central bore (1202)is in parallel with the motor (1201) instead of in series with themotor, thus reducing the overall length by this amount. Additionally, acycloid drive (1204) may provide a substantial gear reduction within acompact size.

FIG. 13 illustrates TSA 1300 with an o-ring or belt drive 1301 thatenables a large transmission ratio with one or more 90-degreetransmissions, a low physical profile and minimal noise according tosome embodiments of the present disclosure. An o-ring or flexible belt(1301) is looped around an input pulley (1303) and output pulley (1304).The input pulley (1303) is coupled to the output shaft of the motor(1302), and the output pulley (1304) is attached to the twisted stringpair (1306). In this example, two idler pulleys (1305) control alignmentof the o-ring or belt (1301). The twisted string pair (1306) is attachedto the output pulley (1304) such that as the output pulley rotates, thestring is twisted, causing TSA 1300 to contract and generate a tensileforce. As the twisted string pair exits the output pulley, it follows acurved bearing surface (1307) so that the effective longitudinal axis(1308) of the string is at an angle, typically perpendicular, to therotational axis of the output pulley. The angular or perpendiculartransmissions that are possible with the o-ring/belt drive and path ofthe twisted string pair around the bearing surface allow each componentto be oriented in the lowest-profile configuration. This is desirable toreduce the overall profile of TSA 1300, both for the wearer's comfortand aesthetics. As with the previous examples, a spring (1309) anddisplacement sensor (1310) provide tensile load sensing for sensors andcontrol circuitry.

Length sensing is achieved with a string or cord (1311) configuredsubstantially in parallel with the effective longitudinal axis of thetwisted string pair (1308). One end of the string or cord (1311) iswound around a spring-loaded reel (1312). The opposite end (not shown)of the string or cord (1311) is anchored to or near the opposite end ofthe TSA. As the TSA is actuated or deactivated, causing its overalllength to lengthen or shorten, the string or cord (1311) is pulled fromor retracted onto the spring-loaded reel (1312). A rotational sensorsuch as a rotary encoder, hall effect sensor, potentiometer or the likedetects rotation of the reel (1312). The sensors and control circuitryare then able to utilize the signal from the rotational sensor tocalculate absolute length of twisted string pair 1308, which may be animportant parameter for control algorithms used to operate the powerlayer.

FIG. 14 shows TSA 1400 with an o-ring transmission, enclosed in alow-profile, contoured housing (1401) according to some embodiments ofthe present disclosure. An o-ring or flexible belt (1402) loops aroundan input pulley (1403) and an output pulley (1404). A motor (1405)drives the input pulley (1403), while the output pulley (1404) twiststhe twisted string pair (1406) as TSA 1400 is actuated. The right-angletransmission enabled by the o-ring drive allows the motor and outputpulley to be oriented within the housing (1401) in the lowest-profileconfiguration. Friction-based transmissions such as the o-ring drive arealso quieter than gear-based transmissions of similar ratios.

FIG. 15 illustrates TSA 1500 according to some embodiments of thepresent disclosure. In some embodiments, TSA 1500 includes the featuresdescribed above, as well as absolute length sensing. Length sensing isachieved with a string or cord (1501) configured substantially inparallel with the effective longitudinal axis of the twisted string pair(1502). One end of the string or cord (1501) is wound around aspring-loaded reel (1503). The opposite end (not shown) of the string orcord (1501) is anchored to or near the opposite end of the FLA (whichTSA 1500 is a component thereof). As TSA 1500 is actuated ordeactivated, causing the overall length of the twisted string pair 1502to lengthen or shorten, the string or cord (1501) is pulled from orretracted onto the spring-loaded reel (1503). A rotational sensor (1504)such as a rotary encoder, hall effect sensor, potentiometer or the likedetects rotation of the reel (1503). The sensors and controls layer isthen able to utilize the signal from the rotational sensor (1504) tocalculate absolute length of the TSA, which may be an importantparameter for control algorithms used to operate the power layer.

As in previous examples, an o-ring or flexible belt (1505) loops aroundan input pulley (1506) and output pulley (1507), as well as idlerpulleys (1508). The input pulley (1506) is driven by a motor (1509),while the output pulley (1507) twists the twisted string pair (1502),which follows a contoured bearing surface (1510). The o-ringtransmission and contoured bearing surface allow the motor and pulleysto be configured in an optimal or minimal profile within a housing orenclosure (1511), with a significant transmission ratio and minimalnoise. A spring (1512) between the housing (1511) and output pulley(1507) and displacement sensor (1513) permit measurement of the tensileforce generated by the TSA, as described previously.

FIG. 16 illustrates TSA 1600 with phased actuators according to someembodiments of the present disclosure. TSA 1600 has a first end (1601)with first, second and third powered actuators (1602, 1603, 1604,respectively). TSA 1600 has a second end (1605) with an anchor (1606),which is a hook in this embodiment. The first, second and third poweredactuators (1602, 1603, 1604) are attached to first, second and thirdtwisted string pairs (1607, 1608, 1609), which are in turn attached atthe opposite ends to first, second and third clutching elements (1610,1611, 1612), respectively. Clutching elements 1610, 1611, and 1612 maybe electrolaminate clutches, or other electrical or mechanical clutches.Electrolaminate clutches may provide superior clutching strength withminimal power requirements for a clutch of a given size. First end 1601and second end 1605 are joined by a telescoping tensile member (1613),with the clutching elements (1610, 1611, 1612) located at telescopingjoints 1620, 1621, and 1622, respectively. Tensile member 1613 caninclude telescoping joints 1620-1622 and segments 1630-1633.

TSA 1600 allows phased actuation of powered actuators 1602-1604 andtheir respective twisted string pairs 1607-1609, for optimized speed,stroke length or force. For example, in a first phase, the first poweredactuator (1602) is actuated. This results in twisting first twistedstring pair 1607, and causes first telescoping joint 1620 to collapse.When first twisted string pair 1607 has been shortened to a desired ormaximum amount, the first clutching element (1610) is activated to fixthe first telescoping joint of the tensile member (1613). Next, thesecond actuator (1603) twists the second twisted string pair (1608) toshorten by a desired amount, when the second clutching element (1611) isactuated to lock the second telescoping joint of the tensile member(1613). This process is repeated for the third actuator (1604), twistedstring pair (1609) and clutching element (1612) such that the strokelength of the TSA is the sum of the stoke lengths of all three twistedstrings and actuators. The clutching elements allow the actuators to beoperated in sequence, while the twisted string pairs that are not beingactuated at that moment remain unloaded. This minimizes powerrequirements or the actuators being back-driven when they are notactive. It can easily be recognized that such a phased actuator systemmay be configured with more or less actuators in parallel or in series,optimized to the specific requirements of the system.

The TSAs discussed above may be used as part of the FLAs that areincorporated in various exosuit embodiments. In some embodiments, for agiven exosuit, each FLA may use the same type of TSA. In anotherembodiment, the FLAs for a given exosuit may use a different combinationof TSAs. For example, hip extensor FLAs may use TSA 1400 and the hipflexor FLAs may use TSA 1500. In yet another example, hip extensor FLAsmay use a mixture of TSAs 1000, 1100, 1200, 1300, 1400, and 1500. TheFLAs may be constructed to have lengths ranging between six andtwenty-four inches, with different stroke lengths.

FIG. 17 illustrates FLA array 1700 according to an embodiment. Array1700 may include a web of FLAs and clutching elements that operatetogether to provide optimized load distribution over a surface (of humananatomy). Array 1700 may be contoured for specific applications. Forexample, array 1700 may follow catenary curves or other paths similar tothat of a load distribution member. In some embodiments, array 1700 maybe used as a load distribution member.

FLA array 1700 may include several primary FLA strings 1710 that spanfrom a motor 1711 to an anchor point 1721. Motor 1711 and anchor point1721 may be secured in place to the exosuit (e.g., such as to one ormore load distribution members). Motor 1711 may be a twisted stringactuator (e.g., TSA 1000, 1100, 1200, 1300, 1400, and 1500) Each primaryFLA strings 1710 can include a twisted string 1715 and one or moresecondary FLAs 1730 that are connected in series with twisted string1715 between motor 1711 and anchor point 1721. Primary FLA strings 1710may be arranged to overlap each other to form an array or web of primaryFLAs 1710 and secondary FLAs 1730. Nodes 1740 may exist at eachintersection of the primary FLA strings 1710, including intersectionsamong secondary FLAs 1730. Nodes 1740 may include sliding or guideelements to facilitate actuation of the FLAs across the intersections.Nodes 1740 may be fixed to the exosuit (e.g., the base layer), or may befree to move relative to exosuit (e.g., the base layer). Nodes 1740 mayinclude clutching elements (e.g., such as an electrolaminate clutch ormechanical clutch). Engagement of the clutching elements can lockrelative movement of FLAs 1710 and 1730 at that node, reducing powerrequirements to maintain desired segment distances, which are controlledby secondary FLAs 1730.

In some embodiments, all or a portion of array 1700 may travel throughdefined channels within an exosuit (e.g., the base layer), or may befree to move relative to the base layer. For example, each string 1715may travel through channels or tubes existing on the exosuit. Thechannel or tube may be perforated with openings to allow other strings1715 to interface to the string traveling through the channel or tube.FLAs 1730 may exist within the channel or tubes. Nodes 1740 may existnear the perforations.

Secondary FLAs 1730 can include a motor and a twisted string, where themotor is connected to one of nodes 1740 and the twisted string, and thetwisted string is connected to another node 1740. With this arrangement,each secondary FLA 1730 forms a movable segment within FLA array 1700that can independently shorten or lengthen its segment distance.

Each of primary and secondary FLAs 1710 and 1730 can be independentlycontrolled to manipulate tension within FLA array 1700. In oneembodiment, primary FLAs 1710 may provide coarse tension adjustmentswithin array 1700 and secondary FLAs 1730 may provide fine tensionadjustments within array 1700. Activation of motor 1711 in any primaryFLA 1710 may manipulate the path of its twisted string 1715 relative tothe other twisted strings. Activation of the motors associated withsecondary FLA 1730 may manipulate a localized segment of the twistedstring it is in series with. Thus, actuation of different FLA segments(via FLAs 1710 and/or 1730) within the array can generate forces andcontractions in an exosuit that are optimally contoured for specificactivities or body types. Selective actuation of FLAs 1710 and 1730within the array may also distort or change the overall size of thearray, in order to adapt to the wearer's body.

In some embodiments, FLA array 1700 can include as many primary andsecondary FLAs 1710 and 1730 and clutches as necessary to perform theactions required of the exosuit. For example, FLA array can includedozens, hundreds, or thousands of individual primary and secondary FLAsand clutches. In one embodiment, the entire exosuit, or a relativelylarge portion thereof, can be one large FLA array 1700. In anotherembodiment, the exosuit can include multiple FLA arrays 1700. Regardlessof whether the exosuit contains one or several FLA arrays 1700, FLAarrays 1700 can be controlled to provide assistive movements inaccordance with embodiments discussed herein. For example, FLA array1700 can provide hip flexor, hip extensor, and spinal extensor assistivemovements, or any other muscle assistive movement. In some embodiments,FLA array 1700 can provide the user with a massage. In some embodiments,FLA array 1700 may serve as a load distribution member in the exosuit.In some embodiments, FLA array 1700 may serve double duty as both a loaddistribution member and a muscle movement assistant.

FIG. 18 shows an illustrative example of FLA array 1800 being used aspart of an exosuit according to an embodiment. FLA array 1800 may besimilar to FLA array 1700. As shown in FIG. 18, FLA array 1800 isconfigured analogously to a hip extensor or gluteal muscle. FLA array1800 is arranged along paths (1801) similar to that of a loaddistribution member. Each path 1801 may include a primary FLA and one ormore secondary FLAs (not shown). The paths may approximate catenarycurves to minimize or optimally distribute pressures and forces alongthe exosuit and wearer's body. In this example, upper portion 1802 ofarray 1800 originates around the waist and hips, and lower portion 1803of array 1800 terminates around the thigh. As described previously,paths 1801 intersect at nodes 1804. Selective actuation of FLAs and/orclutching elements within the array may generate forces that assist theuser in desired activities, such as moving from a seated to standingposition, walking, lifting and the like, while evenly distributing theforces around the exosuit and wearer's body, as well as adapt the suitto the specific anatomy and geometry of the wearer's body. As describedpreviously, the powered actuators such as motors may be engaged at theedges of the array at the ends of the paths 1801, or within the arrayalong segments of the paths. Clutching elements at the nodes 1804 mayselectively inhibit motion of specific paths, depending on the functionor activity performed.

FIG. 19A illustrates possible configurations of load bearing strap 1900according to some embodiments of the present disclosure. One or moreload bearing straps 1900 may be used to create an extensively orinfinitely configurable load distribution member. Load distributionstrap 1900 may enable loads (shown by the arrows) to be distributed overany curved or straight path. For example, load bearing straps 1900 areshown in the exosuit of FIGS. 8A and 8C. Load bearing strap 1900 mayinclude a longitudinal cord 1901 with tabs 1902 attached to cord 1901.The diameter of cord 1901 and the size and shape of tabs 1902 may beselected to achieve desired bending direction(s) and dimensions of ashape obtained through the bending. For example, a thinner diameter cord1901 may permit strap 1900 to be moved into a smaller circumferencecurve than a larger diameter cord.

Any suitable shape of tabs 1902 may be used. Tabs 1901 assist withdistribution of force while enabling strap 1900 to remain relativelyflat. For example, the tap shape may be ovular, circular, rectangular,tooth shaped, or key stone shaped. Tabs 1902 may be shaped to controlthe direction in which strap 1900 can be moved. For example, as shown,tabs 1902 are ovular in shape. The ovular shape enables strap 1900 to bemoved both directions (up and down or side-to-side) relative to cord1901. A key stone or tooth shaped tab may limit movement of strap to onedirection relative to cord 1901.

FIG. 19B illustrates a cross section of load bearing strap 1900.Longitudinal cord 1901 can secured to the pads 1902 with stitches 1903(or an adhesive). Hook and loop fasteners 1904 may exist on a bottomsurface of pads 1902 and are operative to releasably attach pads 1902 tosubstrate 1905, which may be, for example, an exosuit base layer. Theflexibility and releasably attachment capability can enable one or morestraps 1900 to be repeatedly re-configured to produce load distributionmember that is optimize for improved comfort and function. In someembodiments, strap 1900 can be coupled to substrate 105 by wayadhesives, stitching, or other type of adherence.

FIGS. 20A-20B show an illustrative undergarment assistive exosuit (UAE)system 2000 with modular components, according to an embodiment. Asdiscussed above in connection USAE 900, the modular components aredesigned to be removed from the base layer of the suit. As shown inFIGS. 20A and 20B, UAE 2000 includes base layer 2001 with integral loaddistribution members 2002 a, 2002 b, and 2002 c. Load distributionmember 2002 a may wrap around the torso such that it covers the abdomen,upper back, and shoulders. Load distribution members 2002 b and 2002 cmay wrap around the thighs. Modular patch assemblies 2003 and 2004 areattached to the base layer, such that they are anchored to the loaddistribution members 2002 a, 2002 b, and 2002 c. In particular, one ofmodular patch assemblies 2003 may be anchored to load distributionmembers 2002 a and 2002 b, and the other module patch assembly 2003 maybe anchored to load distribution members 2002 a and 2002 c. Modularpatch assembly 2004 may be anchored to the upper back/lower neck regionof load distribution member 2002 a and to the lumbar region of loaddistribution member 2002 a.

FIG. 20C shows a detailed view of modular patch (2003), which includesFLAs corresponding to hip extensors. Modular patch 2003 can include atessellated array of housings 2005 containing components of the powerlayer, such as motors, transmission components, force sensingtransducers, electronic control and communication systems, batteries andthe like. Housings 2005 may be inseparable from the patch, or modularlyremovable and replaceable. Housings 2005 may anchor to load distributionmember 2002 b or 2002 c. As shown, three of housing 2005 may includecomponents of a FLA such as the motor unit that is attached a twistedstring that runs through one of tubes 2006 to one of anchor points 2007located on load distribution member 2002 a. Anchor points 2007 may bedetachably coupled to load distribution member 2002 a and serve as ananchor for each the twisted strings. Thus, when the motor in the FLA isactuated, it twists the string to provide a force tension that pullsload distribution member 2002 a toward load distribution member 2002 b.When modular patch 2003 is removed, the entirety of housing 2005, tubes2006, and anchor points 2007 are removed from base layer 2001. Modulepatch 2004 can include an arrangement similar to modular patch 2003 andmay also be removed in its entirety.

In some embodiments, modular patches 2003 and 2004 may be used tocontain all electronics, FLAs, and there components associated with thepower layer. The modular patches may be removable to permit washing ofthe base layer. The modular patches may serve as an interface to theload distribution members (integrated within the base layer). Thisinterface may support operation of FLAs to provided hip flexor, hipextensor, or spinal extensor assistive movements. The modular patchesmay pass-through openings that enable components (e.g., FLA components)to anchor directly to load distribution members. In addition, themodular patches may serve as its own load distribution member-likestructure to support weight of batteries and circuit boards, sensors,electronics, etc.

In some embodiments, the components of UAE system 2000 can have othersuitable location, shape, number, and/or arrangement. For example,although FIG. 20C shows housing 2005 has having a hexagon shape, anyother suitable shape can be used. Housing 2005 can have any suitablenumber, location, and/or arrangement.

FIG. 21 illustrates an embodiment of an undergarment assistive exosuitwith modular patches and various use scenarios. Modular patches (2101)representing hip extensor and spinal extensor muscles are attached to abase layer (2102). Modular patches 2101 may be removed at process step2107 to facilitate donning and doffing the exosuit at process step 2103,or to use the toilet at step 2104 or to clean the suit at step 2108. Inconnection with cleaning step 2108, removal of modular patches 20101 canenable the base layer to be machine washed without damaging electroniccomponents. One or more battery packs 2105 may be removed from a modularpatch or other location on the suit to be replaced or charged, forexample in a charging station 2106.

Modular patches and components may be removed and replaced, e.g. forcleaning, servicing, exchanging or charging batteries, or to replacewith different components such as flexdrives with different strength,speed, or weight. The modular components may also enable configurationof a suit for a specific individual, based on their specific body size,weight, and functional requirements. For example, the base layer may beselected from a group of sizes or styles, or custom made, to provide thefeatures desired by the wearer. Features may include donning and doffingfeatures, adjustments, pockets, or other functional or aestheticfeatures. The suit may then be configured with modular patchesappropriate to the individual user. Configurable aspects of the modularpatches may include power, strength, speed, weight and size of theflexdrives, battery capacity, communication capability, user interfacefeatures or the like.

FIGS. 22A-22C show front, back, and side views of several different loaddistribution members positioned on different locations of a human body.FIGS. 22A-22C will be collectively referred to herein during descriptionof the load distribution members. The load distribution members includetorso load distribution member 2210, pelvis load distribution member2230, and thigh load distribution members 2050 and 2070.

Torso load distribution member 2210 can include inextensible members2211-2213 that stem from spine region on the back of the body andencircle the body above and below the peck/breast region of the chest.Anchoring points 2216-2218 may be attached via an attachment member (notshown). Members 2211-2213 form grip lines that represent catenary curvesthat distribute load around the torso when subjected to a loading event(e.g., spinal extensor assistive movement). Although members 2211-2213are general inextensible, member 2213 may include stretch portion 2015located near the sternum/breast bone. Stretch portion 2015 mayfacilitate easier breathing by enabling the diaphragm to stretch thestretch portion 2015 during inhalation. Stretch portion 2015 may bestretch limited so that tension in member 2013 is maintained duringloading. Members 2211-2213 may be arranged and positioned such that theydo not encircle the area between the lower ribs and the high naturalwaist, which is located near the belly button. Shoulder straps are notshown in FIGS. 22A-22C, but it should be appreciated that shoulderstraps may be attached to one or more of members 2211-2213 to provideadditional stability for torso load distribution member 2210.

Pelvis load distribution member 2230 distributes load around the hipsand serves as an anchor for FLAs attached between member 2230 and anyone or more of members 2210, 2250, and 2270. Member 2230 can includemembers 2231-2233 that wrap around the pelvis/hip region of the body.Each of members 2231-2233 can employ catenary curves to betterdistribute the load below the natural waist (below the belly button) andabove the lower hips. The catenary curves are represented by thev-shapes in members 2231-2233. Each of members 2231-2233 can includev-shapes, the points of which can be anchor points. Each of member2231-2233 can include two anchors, which are positioned on oppositesides of the body. The grip line arrangement of members 2231 and 2232counterbalance each other by crossing each other around the body. Forexample, member 2231 can include anchor points 2231 a (which ispositioned next to the left thigh) and 2231 b (which is position next tothe right hip), member 2232 can include anchor points 2232 a (which ispositioned next to the right thigh) and 2232 b (which is positioned nextto the left hip). Member 2233 can include anchor points 2233 a (which ispositioned next to the right hip) and 2233 b (which is positioned nextto the left hip).

Thigh load distribution members 2250 and 22270 distribute loads aroundtheir respective thighs and serve as anchors for FLAs attached betweenmember 2210 and members 2250 and 2270. Member 2250 can include members2251-2253 that wrap around the left thigh. Member 2270 can includemembers 2271-2273 that wrap around the right thigh. Each of members2251-2253 and 2271-2273 can employ catenary curves to better distributethe load around their respective thighs. Anchor points may exist foreach of members 2251-2253 and 2271-2273.

FIG. 25 shows an illustrative block diagram of an exosuit 2500 that isconstructed to receive patch assemblies 2551-2554 in accordance withembodiments described herein. Exosuit 2500 may include a base layer andload distribution members as described herein. Patch assemblies2551-2554 are self-contained, self-powered sub-systems that aredetachably coupled to exosuit 2500 at respective patch integrationregions 2501-2504. That is, patch assemblies 2551-2554 can be secured inplace on exosuit 2500 when assistive movements are required and patchassemblies 2551-2554 can be removed from exosuit 2500 (e.g., whenexosuit 2500 needs to be washed). Patch integration regions 2501-2504can represent portions of the exosuit configured to interface with apatch assembly. For example, patch integration regions 2501-2504 may useany suitable attachment mechanisms such as fasteners, loops, buckles,and clips to interface with a patch assembly. The attachment mechanismmay be integrated with a load distribution member of the exosuit suchthat when the FLAs of the patch assemblies are activated, the loaddistribution members provide the support required to enable muscleassistance movements. Patch assemblies 2551-2554 can be attached to thebase layer of exosuit 2500 using a standardized interface that includesharness elements that can be enabled with zippered covers, snaps, orother means of securing the attachment. The standardized interfaceallows for different size patches to be inserted into the suit, allowingfor modularity for the wearer who may want to use different size patchesin the same base layer, or for initial evaluation and fitting of acustomer. Patch integration regions 2501-2504 may also be standardizedso that patch assemblies of varying sizes can be accommodated.

Patch assemblies 2551-2554 may be specifically constructed to only fitin respective patch integration regions 2501-2504. For example, patchassembly 2551 may be a left leg hip flexor patch assembly, which wouldonly fit with the reciprocal left leg hip flexor patch integrationregion such as patch region 2501. FIG. 25 illustrates that there are Npatch assemblies and N patch integration regions. Thus, any suitablenumber of patch assemblies may be detachably coupled to a respectivepatch integration region. It should be further appreciated that thedetachable coupling between a patch assembly and a patch integrationregion can include one, two, or three or more attachment points.

In some embodiments, one of the patch assemblies may serve as the masterand the remaining patch assemblies may serve as slaves. The master patchassembly may contain core or central processing control electronics thatserve as the main nervous center of the exosuit. The master patchassembly may send commands to the slave patch assemblies to executemovement assist functions. The slave patch assemblies may transmit data(e.g., sensor data, telemetry data, motor control data) to the masterpatch assembly.

FIG. 26 shows an illustrative block diagram of patch assembly 2600according to an embodiment. Patch assembly 2600 may represent any one ofpatch assemblies 2551-2554 and modular patches 2003, 2004, and 2101.Patch assembly 2600 may include housing 2610, mounting components 2620,circuit board 2630, control electronics 2640, FLAs 2650, power source2660, communications circuitry 2670, and other circuitry (not shown).Housing 2610 may contain or be attached to mounting components 2620,circuit board 2630, control electronics 2640, FLAs 2650, power source2660, communications circuitry 2670, and other circuitry (not shown).Mounting components 2620 may be responsible to coupling the housing orpatch assembly as a whole to the exosuit (e.g., patch integrationregion). Mounting components 2620 can include any suitable attachmentmechanisms such as fasteners, loops, buckles, and clips. Circuit board2630 can be any suitable circuit board such as a printed circuit boardor a flexible circuit board. Circuit board 2630 may provide a substratefor control electronics 2640 to reside and may also provideinterconnects for routing power and data signals amount other componentssuch as FLAs 2650, power source 2660, and communications circuitry 2670.Control electronics 2640 can include the electronics for controllingoperation of patch assembly 2600, including for example, operation ofFLAs 2650, power management, and communications circuitry 2670. FLAs2650 have been discussed throughout this disclosure and need not bediscussed in more detail here. Power source 2660 can include one or morebatteries or battery packs that may be removable. Communicationscircuitry 2670 may include wired and/or wireless communications forcommunicating with a source remote to patch assembly 2600. For example,communications circuitry may communicate with another patch assemblythat functions a master controller. As a specific example,communications circuitry 2670 may receive commands from a remote sourcethat instructs control electronics 2640 to activate FLA 2650. As anotherspecific example, data acquired by one or more sensors (not shown)associated with patch assembly 2600 may be transmitted to a remotesource via communications circuitry 2670.

FIG. 27 shows an illustrative multiple assistive movement patch assembly(MAMPA) 2700 according to an embodiment. MAMPA 2700 may represent asingle unitary patch that encompasses features of many patch assembliessuch as patch assemblies 2551-2554 and is constructed to be detachablycoupled to anterior and posterior sides of an exosuit. MAMPA 2700 isdesigned to be draped around the exosuit by the user and further securedto the exosuit by the user. For example, as shown in FIG. 27, MAMPA 2700can be draped over the shoulders and around the hips and legs, andvarious portions of MAMPA 2700 can then be secured to load distributionmembers (not shown).

MAMPA 2700 can include a flexible substrate 2710 that serves as thefoundation for holding various components thereon and for beingdetachably coupled to a plurality of load bearing members existing onanterior and posterior sides of the exosuit. MAMPA 2700 can includesensors 2720, batteries 2730, FLAs 2740, control electronics 2750, andother circuitry. MAMPA can also include a power and communicationsnetwork that is coupled to sensors 2720, batteries 2730, FLAs 2740, andcontrol electronics 2750. The control electronics are operative toselectively activate the plurality of FLAs to provide muscle movementassistance to a user of the exosuit. For example, a first set of theFLAs may provide hip flexor assistive movements and a second set of theFLAs may provide hip extensor assistive movements, wherein the first andsecond sets of FLAs are mutually exclusive. In addition, a third set ofFLAs may provide spinal extensor assistive movements.

FIG. 28 shows illustrative back, side, and front views of MAMPA 2700when it is secured to an exosuit. The flexible substrate 2710 has beenomitted to promote clarity of various components, including the cablelayout of the power and communications network 2860. As shown, power andcommunications network 2860 interconnects sensors 2720, batteries 2730,FLAs 2740, control electronics 2750, and other circuitry.

FIG. 29 shows illustrative back, side, and front views of a base layer2910 of exosuit 2900 according to various embodiments. Base layer 2910can include load distribution members 2911-2915. Load distributionmembers 2911 and 2912 are thigh based, load distribution member 2913 iswaist/hip based, load distribution member 2914 is spinal column based,and load distribution members 2915 are shoulder based.

FIG. 30 shows illustrative back, side, and front views of exosuit 2900with patch assemblies attached thereto according to various embodiments.Patch assemblies 3010-306 may each be self-contained units such as patchassembly 2600 of FIG. 26 that can be detachable coupled to theappropriate load distribution members. Patch assembly 3010 can beattached to LDMs 2911 and 2913. Patch assembly 3020 can be attached toLDMs 2912 and 2913. Patch assembly 3030 can be attached to LDMs 2911 and2913. Patch assembly 3040 can be attached to LDMs 2912 and 2913. Patchassembly 3050 can be attached to LDMs 2914 and 2915.

FIGS. 31 and 32 show illustrative front and back views of female exosuitbase layer 3100 according to an embodiment. A power layer and/or patchassemblies are not shown. Base layer 3100 may include many differentfeatures that each serve a different purpose and/or improve the comfortof the base layer fit. Base layer 3100 may include identification collarregion 3102, LEDs 3104, touch sensor 3106, and microphone 3108. Baselayer 3100 may include adjustable shoulder straps 3110 that permitshoulder strap sizing adjustment and registration and anchoring straps3112 that secure the shoulder straps 3110 in place. Base layer 3100 caninclude soft molded portions 3116 for the breasts and underwire 3118 toprovide support for portions 3116. Base layer 3100 can include stretchlimit panel 3120 that limits stretch in all directions, support band3122 that stretches to adapt to movement of the body, mesh zones 3124that stretch and quickly dissipate heat, and relatively high stretchzone 3128. Base layer 3100 can include zipper 3126 for enabling easingdonning and doffing. Base layer 3100 can include waist/hip loaddistribution member 3130, thigh load distribution members 3132 and 3134,back load distribution member 3136. Base layer 3100 may include magneticguidance attachment points 3140 for facilitating connection of one ormore patch assemblies.

FIG. 33 shows show illustrative front and back views of female exosuitbase layer 3100 with patch assemblies and cover layer according to anembodiment. Patch assemblies 3151-3154 are coupled to base layer 3100and cover layer 3160 is draped over patch assemblies 3151-3154 and aportion of base layer 3100.

Methods for Controlling and Applications of an Exosuit

An exosuit can be operated by electronic controllers disposed on orwithin the exosuit or in wireless or wired communication with theexosuit. The electronic controllers can be configured in a variety ofways to operate the exosuit and to enable functions of the exosuit. Theelectronic controllers can access and execute computer-readable programsthat are stored in elements of the exosuit or in other systems that arein direct or indirect communications with the exosuit. Thecomputer-readable programs can describe methods for operating theexosuit or can describe other operations relating to a exosuit or to awearer of a exosuit.

FIG. 23 illustrates an example exosuit 2300 that includes actuators2301, sensors 2303, and a controller configured to operate elements ofthe exosuit 2300 (e.g., 2301, 2303) to enable functions of exosuit 2300.The controller 2305 is configured to communicate wirelessly with a userinterface 2310. The user interface 2310 is configured to presentinformation to a user (e.g., a wearer of the exosuit 2300) and to thecontroller 2305 of the flexible exosuit or to other systems. The userinterface 2310 can be involved in controlling and/or accessinginformation from elements of the exosuit 2300. For example, anapplication being executed by the user interface 2310 can access datafrom the sensors 2303, calculate an operation (e.g., to applydorsiflexion stretch) of the actuators 2301, and transmit the calculatedoperation to the exosuit 2300. The user interface 2310 can additionallybe configured to enable other functions; for example, the user interface2310 can be configured to be used as a cellular telephone, a portablecomputer, an entertainment device, or to operate according to otherapplications.

The user interface 2310 can be configured to be removably mounted to theexosuit 2300 (e.g., by straps, magnets, Velcro, charging and/or datacables). Alternatively, the user interface 2310 can be configured as apart of the exosuit 2300 and not to be removed during normal operation.In some examples, a user interface can be incorporated as part of theexosuit 2300 (e.g., a touchscreen integrated into a sleeve of theexosuit 2300) and can be used to control and/or access information aboutthe exosuit 2300 in addition to using the user interface 2310 to controland/or access information about the exosuit 2300. In some examples, thecontroller 2305 or other elements of the exosuit 2300 are configured toenable wireless or wired communication according to a standard protocol(e.g., Bluetooth, ZigBee, WiFi, LTE or other cellular standards, IRdA,Ethernet) such that a variety of systems and devices can be made tooperate as the user interface 2310 when configured with complementarycommunications elements and computer-readable programs to enable suchfunctionality.

The exosuit 2300 can be configured as described in example embodimentsherein or in other ways according to an application. The exosuit 2300can be operated to enable a variety of applications. The exosuit 2300can be operated to enhance the strength of a wearer by detecting motionsof the wearer (e.g., using sensors 2303) and responsively applyingtorques and/or forces to the body of the wearer (e.g., using actuators2301) to increase the forces the wearer is able to apply to his/her bodyand/or environment. The exosuit 2300 can be operated to train a wearerto perform certain physical activities. For example, the exosuit 2300can be operated to enable rehabilitative therapy of a wearer. Theexosuit 2300 can operate to amplify motions and/or forces produced by awearer undergoing therapy in order to enable the wearer to successfullycomplete a program of rehabilitative therapy. Additionally oralternatively, the exosuit 2300 can be operated to prohibit disorderedmovements of the wearer and/or to use the actuators 2301 and/or otherelements (e.g., haptic feedback elements) to indicate to the wearer amotion or action to perform and/or motions or actions that should not beperformed or that should be terminated. Similarly, other programs ofphysical training (e.g., dancing, skating, other athletic activities,vocational training) can be enabled by operation of the exosuit 2300 todetect motions, torques, or forces generated by a wearer and/or to applyforces, torques, or other haptic feedback to the wearer. Otherapplications of the exosuit 2300 and/or user interface 2310 areanticipated.

The user interface 2310 can additionally communicate with communicationsnetwork(s) 2320. For example, the user interface 2310 can include a WiFiradio, an LTE transceiver or other cellular communications equipment, awired modem, or some other elements to enable the user interface 2310and exosuit 2300 to communicate with the Internet. The user interface2310 can communicate through the communications network 2320 with aserver 2330. Communication with the server 2330 can enable functions ofthe user interface 2310 and exosuit 2300. In some examples, the userinterface 2310 can upload telemetry data (e.g., location, configurationof elements 2301, 2303 of the exosuit 2300, physiological data about awearer of the exosuit 2300) to the server 2330.

In some examples, the server 2330 can be configured to control and/oraccess information from elements of the exosuit 2300 (e.g., 2301, 2303)to enable some application of the exosuit 2300. For example, the server2330 can operate elements of the exosuit 2300 to move a wearer out of adangerous situation if the wearer was injured, unconscious, or otherwiseunable to move themselves and/or operate the exosuit 2300 and userinterface 2310 to move themselves out of the dangerous situation. Otherapplications of a server in communications with a exosuit areanticipated.

The user interface 2310 can be configured to communicate with a seconduser interface 2345 in communication with and configured to operate asecond flexible exosuit 2340. Such communication can be direct (e.g.,using radio transceivers or other elements to transmit and receiveinformation over a direct wireless or wired link between the userinterface 2310 and the second user interface 2345). Additionally oralternatively, communication between the user interface 2310 and thesecond user interface 2345 can be facilitated by communicationsnetwork(s) 2320 and/or a server 2330 configured to communicate with theuser interface 2310 and the second user interface 2345 through thecommunications network(s) 2320.

Communication between the user interface 2310 and the second userinterface 2345 can enable applications of the exosuit 2300 and secondexosuit 2340. In some examples, actions of the exosuit 2300 and secondflexible exosuit 2340 and/or of wearers of the exosuit 2300 and secondexosuit 2340 can be coordinated. For example, the exosuit 2300 andsecond exosuit 2340 can be operated to coordinate the lifting of a heavyobject by the wearers. The timing of the lift, and the degree of supportprovided by each of the wearers and/or the exosuit 2300 and secondexosuit 2340 can be controlled to increase the stability with which theheavy object was carried, to reduce the risk of injury of the wearers,or according to some other consideration. Coordination of actions of theexosuit 2300 and second exosuit 2340 and/or of wearers thereof caninclude applying coordinated (in time, amplitude, or other properties)forces and/or torques to the wearers and/or elements of the environmentof the wearers and/or applying haptic feedback (though actuators of theexosuits 2300, 2340, through dedicated haptic feedback elements, orthrough other methods) to the wearers to guide the wearers toward actingin a coordinated manner.

Coordinated operation of the exosuit 2300 and second exosuit 2340 can beimplemented in a variety of ways. In some examples, one exosuit (and thewearer thereof) can act as a master, providing commands or otherinformation to the other exosuit such that operations of the exosuits2300 and 2340 are coordinated. For example, the exosuit 2300, 2340 canbe operated to enable the wearers to dance (or to engage in some otherathletic activity) in a coordinated manner. One of the exosuits can actas the ‘lead’, transmitting timing or other information about theactions performed by the ‘lead’ wearer to the other exosuit, enablingcoordinated dancing motions to be executed by the other wearer. In someexamples, a first wearer of a first exosuit can act as a trainer,modeling motions or other physical activities that a second wearer of asecond exosuit can learn to perform. The first exosuit can detectmotions, torques, forces, or other physical activities executed by thefirst wearer and can send information related to the detected activitiesto the second exosuit. The second exosuit can then apply forces,torques, haptic feedback, or other information to the body of the secondwearer to enable the second wearer to learn the motions or otherphysical activities modeled by the first wearer. In some examples, theserver 2330 can send commands or other information to the exosuits 2300and 2340 to enable coordinated operation of the exosuits 2300 and 2340.

The exosuit 2300 can be operated to transmit and/or record informationabout the actions of a wearer, the environment of the wearer, or otherinformation about a wearer of the exosuit 2300. In some examples,kinematics related to motions and actions of the wearer can be recordedand/or sent to the server 2330. These data can be collected for medical,scientific, entertainment, social media, or other applications. The datacan be used to operate a system. For example, the exosuit 2300 can beconfigured to transmit motions, forces, and/or torques generated by auser to a robotic system (e.g., a robotic arm, leg, torso, humanoidbody, or some other robotic system) and the robotic system can beconfigured to mimic the activity of the wearer and/or to map theactivity of the wearer into motions, forces, or torques of elements ofthe robotic system. In another example, the data can be used to operatea virtual avatar of the wearer, such that the motions of the avatarmirrored or were somehow related to the motions of the wearer. Thevirtual avatar can be instantiated in a virtual environment, presentedto an individual or system with which the wearer is communicating, orconfigured and operated according to some other application.

Conversely, the exosuit 2300 can be operated to present haptic or otherdata to the wearer. In some examples, the actuators 2301 (e.g., twistedstring actuators, exotendons) and/or haptic feedback elements (e.g.,EPAM haptic elements) can be operated to apply and/or modulate forcesapplied to the body of the wearer to indicate mechanical or otherinformation to the wearer. For example, the activation in a certainpattern of a haptic element of the exosuit 2300 disposed in a certainlocation of the exosuit 2300 can indicate that the wearer had received acall, email, or other communications. In another example, a roboticsystem can be operated using motions, forces, and/or torques generatedby the wearer and transmitted to the robotic system by the exosuit 2300.Forces, moments, and other aspects of the environment and operation ofthe robotic system can be transmitted to the exosuit 2300 and presented(using actuators 2301 or other haptic feedback elements) to the wearerto enable the wearer to experience force-feedback or other hapticsensations related to the wearer's operation of the robotic system. Inanother example, haptic data presented to a wearer can be generated by avirtual environment, e.g., an environment containing an avatar of thewearer that is being operated based on motions or other data related tothe wearer that is being detected by the exosuit 2300.

Note that the exosuit 2300 illustrated in FIG. 23 is only one example ofa exosuit that can be operated by control electronics, software, oralgorithms described herein. Control electronics, software, oralgorithms as described herein can be configured to control flexibleexosuits or other mechatronic and/or robotic system having more, fewer,or different actuators, sensors or other elements. Further, controlelectronics, software, or algorithms as described herein can beconfigured to control exosuits configured similarly to or differentlyfrom the illustrated exosuit 2300. Further, control electronics,software, or algorithms as described herein can be configured to controlflexible exosuits having reconfigurable hardware (i.e., exosuits thatare able to have actuators, sensors, or other elements added or removed)and/or to detect a current hardware configuration of the flexibleexosuits using a variety of methods.

Software Hierarchy for Control of an Exosuit

A controller of a exosuit and/or computer-readable programs executed bythe controller can be configured to provide encapsulation of functionsand/or components of the flexible exosuit. That is, some elements of thecontroller (e.g., subroutines, drivers, services, daemons, functions)can be configured to operate specific elements of the exosuit (e.g., atwisted string actuator, a haptic feedback element) and to allow otherelements of the controller (e.g., other programs) to operate thespecific elements and/or to provide abstracted access to the specificelements (e.g., to translate a command to orient an actuator in acommanded direction into a set of commands sufficient to orient theactuator in the commanded direction). This encapsulation can allow avariety of services, drivers, daemons, or other computer-readableprograms to be developed for a variety of applications of a flexibleexosuits. Further, by providing encapsulation of functions of a flexibleexosuit in a generic, accessible manner (e.g., by specifying andimplementing an application programming interface (API) or otherinterface standard), computer-readable programs can be created tointerface with the generic, encapsulated functions such that thecomputer-readable programs can enable operating modes or functions for avariety of differently-configured exosuit, rather than for a single typeor model of flexible exosuit. For example, a virtual avatarcommunications program can access information about the posture of awearer of a flexible exosuit by accessing a standard exosuit API.Differently-configured exosuits can include different sensors,actuators, and other elements, but can provide posture information inthe same format according to the API. Other functions and features of aflexible exosuit, or other robotic, exoskeletal, assistive, haptic, orother mechatronic system, can be encapsulated by APIs or according tosome other standardized computer access and control interface scheme.

FIG. 24 is a schematic illustrating elements of a exosuit 2400 and ahierarchy of control or operating the exosuit 2400. The flexible exosuitincludes actuators 2420 and sensors 2430 configured to apply forcesand/or torques to and detect one or more properties of, respectively,the exosuit 2400, a wearer of the exosuit 2400, and/or the environmentof the wearer. The exosuit 2400 additionally includes a controller 2410configured to operate the actuators 2420 and sensors 2430 by usinghardware interface electronics 2440. The hardware electronics interface2440 includes electronics configured to interface signals from and tothe controller 1510 with signals used to operate the actuators 1520 andsensors 1530. For example, the actuators 1520 can include exotendons,and the hardware interface electronics 2440 can include high-voltagegenerators, high-voltage switches, and high-voltage capacitance metersto clutch and un-clutch the exotendons and to report the length of theexotendons. The hardware interface electronics 2440 can include voltageregulators, high voltage generators, amplifiers, current detectors,encoders, magnetometers, switches, controlled-current sources, DACs,ADCs, feedback controllers, brushless motor controllers, or otherelectronic and mechatronic elements.

The controller 2410 additionally operates a user interface 2450 that isconfigured to present information to a user and/or wearer of the exosuit2400 and a communications interface 2460 that is configured tofacilitate the transfer of information between the controller 2410 andsome other system (e.g., by transmitting a wireless signal).Additionally or alternatively, the user interface 2450 can be part of aseparate system that is configured to transmit and receive userinterface information to/from the controller 2410 using thecommunications interface 2460 (e.g., the user interface 2450 can be partof a cellphone).

The controller 2410 is configured to execute computer-readable programsdescribing functions of the flexible exosuit 2412. Among thecomputer-readable programs executed by the controller 2410 are anoperating system 2412, applications 2414 a, 2414 b, 2414 c, and acalibration service 2416. The operating system 2412 manages hardwareresources of the controller 2410 (e.g., I/O ports, registers, timers,interrupts, peripherals, memory management units, serial and/or parallelcommunications units) and, by extension, manages the hardware resourcesof the exosuit 2400. The operating system 2412 is the onlycomputer-readable program executed by the controller 2410 that hasdirect access to the hardware interface electronics 2440 and, byextension, the actuators 2420 and sensors 2430 of the exosuit 2400.

The applications 2414 a, 2414 b, 2414 are computer-readable programsthat describe some function, functions, operating mode, or operatingmodes of the exosuit 2400. For example, application 2414 a can describea process for transmitting information about the wearer's posture toupdate a virtual avatar of the wearer that includes accessinginformation on a wearer's posture from the operating system 2412,maintaining communications with a remote system using the communicationsinterface 2460, formatting the posture information, and sending theposture information to the remote system. The calibration service 2416is a computer-readable program describing processes to store parametersdescribing properties of wearers, actuators 2420, and/or sensors 2430 ofthe exosuit 2400, to update those parameters based on operation of theactuators 2420, and/or sensors 2430 when a wearer is using the exosuit2400, to make the parameters available to the operating system 2412and/or applications 2414 a, 2414 b, 2414 c, and other functions relatingto the parameters. Note that applications 2414 a, 2414 b, 2414 andcalibration service 2416 are intended as examples of computer-readableprograms that can be run by the operating system 2412 of the controller2410 to enable functions or operating modes of a exosuit 2400.

The operating system 2412 can provide for low-level control andmaintenance of the hardware (e.g., 2420, 2430, 2440). In some examples,the operating system 2412 and/or hardware interface electronics 2440 candetect information about the exosuit 2400, the wearer, and/or thewearer's environment from one or more sensors 2430 at a constantspecified rate. The operating system 2412 can generate an estimate ofone or more states or properties of the exosuit 2400 or componentsthereof using the detected information. The operating system 2412 canupdate the generated estimate at the same rate as the constant specifiedrate or at a lower rate. The generated estimate can be generated fromthe detected information using a filter to remove noise, generate anestimate of an indirectly-detected property, or according to some otherapplication. For example, the operating system 2412 can generate theestimate from the detected information using a Kalman filter to removenoise and to generate an estimate of a single directly or indirectlymeasured property of the exosuit 2400, the wearer, and/or the wearer'senvironment using more than one sensor. In some examples, the operatingsystem can determine information about the wearer and/or exosuit 2400based on detected information from multiple points in time. For example,the operating system 2400 can determine an eversion stretch anddorsiflexion stretch.

In some examples, the operating system 2412 and/or hardware interfaceelectronics 2440 can operate and/or provide services related tooperation of the actuators 2420. That is, in case where operation of theactuators 2420 requires the generation of control signals over a periodof time, knowledge about a state or states of the actuators 2420, orother considerations, the operating system 2412 and/or hardwareinterface electronics 2440 can translate simple commands to operate theactuators 2420 (e.g., a command to generate a specified level of forceusing a twisted string actuator (TSA) of the actuators 2420) into thecomplex and/or state-based commands to the hardware interfaceelectronics 2440 and/or actuators 2420 necessary to effect the simplecommand (e.g., a sequence of currents applied to windings of a motor ofa TSA, based on a starting position of a rotor determined and stored bythe operating system 2410, a relative position of the motor detectedusing an encoder, and a force generated by the TSA detected using a loadcell).

In some examples, the operating system 2412 can further encapsulate theoperation of the exosuit 2400 by translating a system-level simplecommand (e.g., a commanded level of force tension applied to thefootplate) into commands for multiple actuators, according to theconfiguration of the exosuit 2400. This encapsulation can enable thecreation of general-purpose applications that can effect a function ofan exosuit (e.g., allowing a wearer of the exosuit to stretch his foot)without being configured to operate a specific model or type of exosuit(e.g., by being configured to generate a simple force production profilethat the operating system 2412 and hardware interface electronics 2440can translate into actuator commands sufficient to cause the actuators2420 to apply the commanded force production profile to the footplate).

The operating system 2412 can act as a standard, multi-purpose platformto enable the use of a variety of exosuits having a variety of differenthardware configurations to enable a variety of mechatronic, biomedical,human interface, training, rehabilitative, communications, and otherapplications. The operating system 2412 can make sensors 2430, actuators2420, or other elements or functions of the exosuit 2400 available toremote systems in communication with the exosuit 2400 (e.g., using thecommunications interface 2460) and/or a variety of applications,daemons, services, or other computer-readable programs being executed byoperating system 2412. The operating system 2412 can make the actuators,sensors, or other elements or functions available in a standard way(e.g., through an API, communications protocol, or other programmaticinterface) such that applications, daemons, services, or othercomputer-readable programs can be created to be installed on, executedby, and operated to enable functions or operating modes of a variety offlexible exosuits having a variety of different configurations. The API,communications protocol, or other programmatic interface made availableby the operating system 2412 can encapsulate, translate, or otherwiseabstract the operation of the exosuit 2400 to enable the creation ofsuch computer-readable programs that are able to operate to enablefunctions of a wide variety of differently-configured flexible exosuits.

Additionally or alternatively, the operating system 2412 can beconfigured to operate a modular flexible exosuit system (i.e., aflexible exosuit system wherein actuators, sensors, or other elementscan be added or subtracted from a flexible exosuit to enable operatingmodes or functions of the flexible exosuit). In some examples, theoperating system 2412 can determine the hardware configuration of theexosuit 2400 dynamically and can adjust the operation of the exosuit2400 relative to the determined current hardware configuration of theexosuit 2400. This operation can be performed in a way that was‘invisible’ to computer-readable programs (e.g., 2414 a, 2414 b, 2414 c)accessing the functionality of the exosuit 2400 through a standardizedprogrammatic interface presented by the operating system 2412. Forexample, the computer-readable program can indicate to the operatingsystem 2412, through the standardized programmatic interface, that aspecified level of torque was to be applied to an ankle of a wearer ofthe exosuit 2400. The operating system 2412 can responsively determine apattern of operation of the actuators 2420, based on the determinedhardware configuration of the exosuit 2400, sufficient to apply thespecified level of torque to the ankle of the wearer.

In some examples, the operating system 2412 and/or hardware interfaceelectronics 2440 can operate the actuators 2420 to ensure that theexosuit 2400 does not operate to directly cause the wearer to be injuredand/or elements of the exosuit 2400 to be damaged. In some examples,this can include not operating the actuators 2420 to apply forces and/ortorques to the body of the wearer that exceeded some maximum threshold.This can be implemented as a watchdog process or some othercomputer-readable program that can be configured (when executed by thecontroller 2410) to monitor the forces being applied by the actuators2420 (e.g., by monitoring commands sent to the actuators 2420 and/ormonitoring measurements of forces or other properties detected using thesensors 2430) and to disable and/or change the operation of theactuators 2420 to prevent injury of the wearer. Additionally oralternatively, the hardware interface electronics 2440 can be configuredto include circuitry to prevent excessive forces and/or torques frombeing applied to the wearer (e.g., by channeling to a comparator theoutput of a load cell that is configured to measure the force generatedby a TSA, and configuring the comparator to cut the power to the motorof the TSA when the force exceeded a specified level).

In some examples, operating the actuators 2420 to ensure that theexosuit 2400 does not damage itself can include a watchdog process orcircuitry configured to prevent over-current, over-load, over-rotation,or other conditions from occurring that can result in damage to elementsof the exosuit 2400. For example, the hardware interface electronics2440 can include a metal oxide varistor, breaker, shunt diode, or otherelement configured to limit the voltage and/or current applied to awinding of a motor.

Note that the above functions described as being enabled by theoperating system 2412 can additionally or alternatively be implementedby applications 2414 a, 2414 b, 2414 c, services, drivers, daemons, orother computer-readable programs executed by the controller 2400. Theapplications, drivers, services, daemons, or other computer-readableprograms can have special security privileges or other properties tofacilitate their use to enable the above functions.

The operating system 2412 can encapsulate the functions of the hardwareinterface electronics 2440, actuators 2420, and sensors 2430 for use byother computer-readable programs (e.g., applications 2414 a, 2414 b,2414 c, calibration service 2416), by the user (through the userinterface 2450), and/or by some other system (i.e., a system configuredto communicate with the controller 2410 through the communicationsinterface 2460). The encapsulation of functions of the exosuit 2400 cantake the form of application programming interfaces (APIs), i.e., setsof function calls and procedures that an application running on thecontroller 2410 can use to access the functionality of elements of theexosuit 2400. In some examples, the operating system 2412 can makeavailable a standard ‘exosuit API’ to applications being executed by thecontroller 2410. The ‘exosuit API’ can enable applications 2414 a, 2414b, 2414 c to access functions of the exosuit 2400 without requiringthose applications 2414 a, 2414 b, 2414 c to be configured to generatewhatever complex, time-dependent signals are necessary to operateelements of the exosuit 2400 (e.g., actuators 2420, sensors 2430).

The ‘exosuit API’ can allow applications 2414 a, 2414 b, 2414 c to sendsimple commands to the operating system 2412 (e.g., ‘begin storingmechanical energy from the ankle of the wearer when the foot of thewearer contacts the ground’) in such that the operating system 2412 caninterpret those commands and generate the command signals to thehardware interface electronics 2440 or other elements of the exosuit2400 that are sufficient to effect the simple commands generated by theapplications 2414 a, 2414 b, 2414 c (e.g., determining whether the footof the wearer has contacted the ground based on information detected bythe sensors 2430, responsively applying high voltage to an exotendonthat crosses the user's ankle).

The ‘exosuit API’ can be an industry standard (e.g., an ISO standard), aproprietary standard, an open-source standard, or otherwise madeavailable to individuals that can then produce applications forexosuits. The ‘exosuit API’ can allow applications, drivers, services,daemons, or other computer-readable programs to be created that are ableto operate a variety of different types and configurations of exosuitsby being configured to interface with the standard ‘exosuit API’ that isimplemented by the variety of different types and configurations ofexosuits. Additionally or alternatively, the ‘exosuit API’ can provide astandard encapsulation of individual exosuit-specific actuators (i.e.,actuators that apply forces to specific body segments, wheredifferently-configured exosuits may not include an actuator that appliesforces to the same specific body segments) and can provide a standardinterface for accessing information on the configuration of whateverexosuit is providing the ‘exosuit API’. An application or other programthat accesses the ‘exosuit API’ can access data about the configurationof the exosuit (e.g., locations and forces between body segmentsgenerated by actuators, specifications of actuators, locations andspecifications of sensors) and can generate simple commands forindividual actuators (e.g., generate a force of 30 newtons for 50milliseconds) based on a model of the exosuit generated by theapplication and based on the information on the accessed data about theconfiguration of the exosuit. Additional or alternate functionality canbe encapsulated by an ‘exosuit API’ according to an application.

Applications 2414 a, 2414 b, 2414 c can individually enable all or partsof the functions and operating modes of a flexible exosuit describedherein. For example, an application can enable haptic control of arobotic system by transmitting postures, forces, torques, and otherinformation about the activity of a wearer of the exosuit 2400 and bytranslating received forces and torques from the robotic system intohaptic feedback applied to the wearer (i.e., forces and torques appliedto the body of the wearer by actuators 2420 and/or haptic feedbackelements). In another example, an application can enable a wearer tolocomote more efficiently by submitting commands to and receiving datafrom the operating system 2412 (e.g., through an API) such thatactuators 2420 of the exosuit 2400 assist the movement of the user,extract negative work from phases of the wearer's locomotion and injectthe stored work to other phases of the wearer's locomotion, or othermethods of operating the exosuit 2400. Applications can be installed onthe controller 2410 and/or on a computer-readable storage mediumincluded in the exosuit 2400 by a variety of methods. Applications canbe installed from a removable computer-readable storage medium or from asystem in communication with the controller 2410 through thecommunications interface 2460. In some examples, the applications can beinstalled from a web site, a repository of compiled or un-compiledprograms on the Internet, an online store (e.g., Google Play, iTunes AppStore), or some other source. Further, functions of the applications canbe contingent upon the controller 2410 being in continuous or periodiccommunication with a remote system (e.g., to receive updates,authenticate the application, to provide information about currentenvironmental conditions).

The exosuit 2400 illustrated in FIG. 24 is intended as an illustrativeexample. Other configurations of flexible exosuits and of operatingsystems, kernels, applications, drivers, services, daemons, or othercomputer-readable programs are anticipated. For example, an operatingsystem configured to operate a exosuit can include a real-time operatingsystem component configured to generate low-level commands to operateelements of the exosuit and a non-real-time component to enable lesstime-sensitive functions, like a clock on a user interface, updatingcomputer-readable programs stored in the exosuit, or other functions. Aexosuit can include more than one controller; further, some of thosecontrollers can be configured to execute real-time applications,operating systems, drivers, or other computer-readable programs (e.g.,those controllers were configured to have very short interrupt servicingroutines, very fast thread switching, or other properties and functionsrelating to latency-sensitive computations) while other controllers areconfigured to enable less time-sensitive functions of a flexibleexosuit. Additional configurations and operating modes of a exosuit areanticipated. Further, control systems configured as described herein canadditionally or alternatively be configured to enable the operation ofdevices and systems other than exosuit; for example, control systems asdescribed herein can be configured to operate robots, rigid exosuits orexoskeletons, assistive devices, prosthetics, or other mechatronicdevices.

Controllers of Mechanical Operation of an Exosuit

Control of actuators of a exosuit can be implemented in a variety ofways according to a variety of control schemes. Generally, one or morehardware and/or software controllers can receive information about thestate of the flexible exosuit, a wearer of the exosuit, and/or theenvironment of the exosuit from sensors disposed on or within theexosuit and/or a remote system in communication with the exosuit. Theone or more hardware and/or software controllers can then generate acontrol output that can be executed by actuators of the exosuit toeffect a commanded state of the exosuit and/or to enable some otherapplication. One or more software controllers can be implemented as partof an operating system, kernel, driver, application, service, daemon, orother computer-readable program executed by a processor included in theexosuit.

Alternative Applications and Embodiments

The exosuit embodiments described above generally relate to anankle-stretching exosuit, typically to improve ankle flexibility byperforming stretches prescribed for patients with DMD. However, it canbe easily appreciated that the application for exosuits is not limitedto ankle stretches for DMD patients. In one alternative embodiment, aexosuit may be used during injury rehabilitation in place of acontinuous passive motion (CPM) machine. The system described above maybe used to restore ROM of the ankle, for example in the case of surgeryor arthritis. An ankle ROM exosuit may additionally include FLAsapproximating calf muscles to induce plantar-flexion of the ankleWhereas a CPM machine simply cycles through a pre-set ROM, a exosuit canadaptively accommodate changes in a joints ROM. ROM of the ankle may besensed by the sensors and controls layer, for example via one or moregoniometers or force sensors, such that the exosuit applies a regimenthat gradually increases ROM over time.

Exosuits may be optimized to other joints and muscle groups as well. Forexample, a exosuit may be adapted to pronate or supinate the forearm andwrist, in order to increase rotational range of motion of the joints, ormuscles in the case of contractors. A exosuit adapted to flex and extendthe knee can be used as an alternative to a CPM machine, in order toincrease the range of motion of the knee after surgery such as anteriorcruciate ligament (ACL) reconstruction or total joint replacement.

In some embodiments, a powered assistive exosuit intended primarily forassistive functions can also be adapted to perform exosuit functions.Embodiments of such an assistive exosuit typically include FLAsapproximating muscle groups such as hip flexors, gluteal/hip extensors,spinal extensors, or abdominal muscles. In the assistive modes of theseexosuits, these FLAs provide assistance for activities such as movingbetween standing and seated positions, walking, and postural stability.Actuation of specific FLAs within such an exosuit system may alsoprovide stretching assistance. Typically, activation of one or more FLAsapproximating a muscle group can stretch the antagonist muscles. Forexample, activation of one or more FLAs approximating the abdominalmuscles might stretch the spinal extensors, or activation of one or moreFLAs approximating gluteal/hip extensor muscles can stretch the hipflexors. The exosuit may be adapted to detect when the wearer is readyto initiate a stretch and perform an automated stretching regimen; orthe wearer may indicate to the suit to initiate a stretching regimen.

Applications

It can be appreciated that assistive exosuits may have multipleapplications. Assistive exosuits may be prescribed for medicalapplications. These may include therapeutic applications, such asassistance with exercise or stretching regimens for rehabilitation,disease mitigation or other therapeutic purposes. Mobility-assistancedevices such as wheelchairs, walkers, crutches and scooters are oftenprescribed for individuals with mobility impairments. Likewise, anassistive exosuit may be prescribed for mobility assistance for patientswith mobility impairments. Compared with mobility assistance devicessuch as wheelchairs, walkers, crutches and scooters, an assistiveexosuit may be less bulky, more visually appealing, and conform withactivities of daily living such as riding in vehicles, attendingcommunity or social functions, using the toilet, and common householdactivities.

An assistive exosuit may additionally function as primary apparel,fashion items or accessories. The exosuit may be stylized for desiredvisual appearance. The stylized design may reinforce visual perceptionof the assistance that the exosuit is intended to provide. For example,an assistive exosuit intended to assist with torso and upper bodyactivities may present a visual appearance of a muscular torso and upperbody. Alternatively, the stylized design may be intended to mask orcamouflage the functionality of the assistive exosuit through design ofthe base layer, electro/mechanical integration or other design factors.

Similarly to assistive exosuits intended for medically prescribedmobility assistance, assistive exosuits may be developed and utilizedfor non-medical mobility assistance, performance enhancement andsupport. For many, independent aging is associated with greater qualityof life, however activities may become more limited with time due tonormal aging processes. An assistive exosuit may enable agingindividuals living independently to electively enhance their abilitiesand activities. For example, gait or walking assistance could enableindividuals to maintain routines such as social walking or golf.Postural assistance may render social situations more comfortable, withless fatigue. Assistance with transitioning between seated and standingpositions may reduce fatigue, increase confidence, and reduce the riskof falls. These types of assistance, while not explicitly medical innature, may enable more fulfilling, independent living during agingprocesses.

Athletic applications for an assistive exosuit are also envisioned. Inone example, an exosuit may be optimized to assist with a particularactivity, such as cycling. In the cycling example, FLAs approximatinggluteal or hip extensor muscles may be integrated into bicycle clothing,providing assistance with pedaling. The assistance could be varied basedon terrain, fatigue level or strength of the wearer, or other factors.The assistance provided may enable increased performance, injuryavoidance, or maintenance of performance in the case of injury or aging.It can be appreciated that assistive exosuits could be optimized toassist with the demands of other sports such as running, jumping,swimming, skiing, or other activities. An athletic assistive exosuit mayalso be optimized for training in a particular sport or activity.Assistive exosuits may guide the wearer in proper form or technique,such as a golf swing, running stride, skiing form, swimming stroke, orother components of sports or activities. Assistive exosuits may alsoprovide resistance for strength or endurance training. The providedresistance may be according to a regimen, such as high intensityintervals.

Assistive exosuit systems as described above may also be used in gamingapplications. Motions of the wearer, detected by the suit, may beincorporated as a game controller system. For example, the suit maysense wearer's motions that simulate running, jumping, throwing,dancing, fighting, or other motions appropriate to a particular game.The suit may provide haptic feedback to the wearer, including resistanceor assistance with the motions performed or other haptic feedback to thewearer.

Assistive exosuits as described above may be used for military or firstresponder applications. Military and first responder personnel are oftento be required to perform arduous work where safety or even life may beat stake. An assistive exosuit may provide additional strength orendurance as required for these occupations. An assistive exosuit mayconnect to one or more communication networks to provide communicationservices for the wearer, as well as remote monitoring of the suit orwearer.

Assistive exosuits as described above may be used for industrial oroccupational safety applications. Exosuits may provide more strength orendurance for specific physical tasks such as lifting or carrying orrepetitive tasks such as assembly line work. By providing physicalassistance, assistive exosuits may also help avoid or preventoccupational injury due overexertion or repetitive stress.

Assistive exosuits as described above may also be configured as homeaccessories. Home accessory assistive exosuits may assist with householdtasks such as cleaning or yard work, or may be used for recreational orexercise purposes. The communication capabilities of an assistiveexosuit may connect to a home network for communication, entertainmentor safety monitoring purposes.

It is to be understood that the disclosed subject matter is not limitedin its application to the details of construction and to thearrangements of the components set forth in the following description orillustrated in the drawings. The disclosed subject matter is capable ofother embodiments and of being practiced and carried out in variousways. Also, it is to be understood that the phraseology and terminologyemployed herein are for the purpose of description and should not beregarded as limiting.

As such, those skilled in the art can appreciate that the conception,upon which this disclosure is based, may readily be utilized as a basisfor the designing of other structures, systems, methods and media forcarrying out the several purposes of the disclosed subject matter.

Although the disclosed subject matter has been described and illustratedin the foregoing exemplary embodiments, it is understood that thepresent disclosure has been made only by way of example, and thatnumerous changes in the details of implementation of the disclosedsubject matter may be made without departing from the spirit and scopeof the disclosed subject matter.

What is claimed is:
 1. A patch assembly for use with an exosuitcomprising: a flexible substrate detachably coupled to a patchintegration region of the exosuit, wherein the patch integration regionis standardized across a plurality of differently sized exosuits suchthat any combination of patch assemblies of different sizes is able tobe secured to any one of the plurality of differently sized exosuits,wherein the flexible substrate is sized according to one of the patchassemblies of different sizes, the flexible substrate comprisingmounting components to secure the flexible substrate to the patchintegration region of the exosuit; at least one flexible linear actuator(FLA) coupled to the flexible substrate, wherein the at least one FLAcomprises a motor and a twisted string, wherein a first end of thetwisted string is coupled to a rotatable member associated with themotor and a second end of the twisted string extends distally away fromthe patch integration region and is attached to a portion of the exosuitother than the patch integration region of the exosuit; at least onebattery coupled to the flexible substrate; and control electronicscoupled to the flexible substrate, the at least one FLA, and the atleast one battery and configured to selectively activate the at leastone FLA to provide muscle movement assistance to a user of the exosuit,wherein the at least one FLA shortens a length of the twisted string toapply a force during the muscle movement assistance, wherein when thepatch assembly is removed from or attached to the exosuit, thecombination of the flexible substate, the at least one FLA, the at leastone battery, and the control electronics is collectively removed from orattached to the exosuit as a modular patch.
 2. The patch assembly ofclaim 1, the flexible substrate further comprising: a circuit board thatis electrically coupled to the at least one FLA, the at least onebattery, and the control electronics.
 3. The patch assembly of claim 2,wherein the patch assembly is a self-contained system that suppliespower to and drive control over the at least one FLA.
 4. The patchassembly of claim 3, further comprising: communications circuitryelectrically coupled to the circuit board, wherein the communicationscircuitry is operative to receive instructions from a source remote tothe patch assembly, and wherein the control electronics is operative toselectively activate the at least one FLA based on the receivedinstructions.
 5. The patch assembly of claim 4, further comprising atleast one sensor electrically coupled to the circuit board, wherein dataobtained by the at least one sensor is transmitted to the source via thecommunications circuitry.
 6. The patch assembly of claim 1, wherein theat least one battery is removable from the flexible substrate.
 7. Thepatch assembly of claim 1, wherein the at least one FLA is operative toprovide one of hip flexor assistive movements, hip extensor assistivemovements, and spinal extensor movements.
 8. An exosuit comprising: abase layer comprising a plurality of load distribution members, whereineach load distribution member comprises: catenary curve members thatcollectively wrap around a portion of a body, wherein an intersection oftwo catenary curve members forms an anchor point, wherein when a load isapplied to the anchor point, the load is distributed around the portionof the body via the catenary curved members; and a plurality of patchassemblies detachably coupled to the base layer via the plurality ofload distribution members, wherein each one of the plurality of patchassemblies comprises: a flexible substrate comprising mountingcomponents to secure the flexible substrate to one of the loaddistribution members; at least one flexible linear actuator (FLA)coupled to the flexible substrate and to the anchor point of one of theload distribution members, wherein the at least one FLA comprises amotor and a twisted string, wherein a first end of the twisted string iscoupled to a rotatable member associated with the motor and a second endof the twisted string extends distally away from the motor and isattached to the anchor point of another one of the load distributionmembers; at least one battery; and control electronics coupled to the atleast one FLA and the at least one battery and configured to selectivelyactivate the at least one FLA to provide muscle movement assistance to auser of the exosuit, wherein the at least one FLA shortens a length ofthe twisted string to apply a force during the muscle movementassistance, wherein when each of the patch assemblies is removed from orattached to the exosuit, the combination of the flexible substate, theat least one FLA, the at least one battery, and the control electronicsis collectively removed from or attached to the exosuit as a modularpatch.
 9. The exosuit of claim 8, wherein each one of the plurality ofpatch assemblies further comprises communications circuitry to transmitand receive data.
 10. The exosuit of claim 9, wherein the plurality ofpatch assemblies comprises first, second, and third patch assemblies,and wherein the control electronics in the first patch assembly serve asa master controller, and wherein the control electronics in the secondand third patch assemblies serve as slave controllers, and wherein themaster controller communicates with the slave controllers via thecommunications circuitry.
 11. The exosuit of claim 10, wherein each ofthe first, second, and third patch assemblies are self-contained systemsthat supply power to and drive control over the at least one FLA. 12.The exosuit of claim 11, wherein the slave controllers exercise drivecontrol over the at least one FLA based on instructions received fromthe master controller.
 13. The exosuit of claim 10, wherein each of thesecond and third patch assemblies further comprise at least one sensorthat provides data to the master controller via the communicationscircuitry.
 14. The exosuit of claim 8, wherein the at least one FLA of afirst patch assembly is operative to provide spinal extensor movements,wherein the at least one FLA of a second patch assembly is operative toprovide one of hip flexor assistive movements and hip extensor assistivemovements, wherein the at least one FLA of a third patch assembly isoperative to provide one of hip flexor assistive movements and hipextensor assistive movements.
 15. A multiple assistive movement patchassembly for use with an exosuit, comprising: a flexible substrateconstructed to be detachably coupled to a plurality of load bearingmembers existing on anterior and posterior sides of the exosuit; aplurality of sensors secured to the flexible substrate; a plurality ofbatteries secured to the flexible substrate; a plurality of flexiblelinear actuators (FLAs) secured to the flexible substrate; controlelectronics secured to the flexible substrate; and a power andcommunications network that is coupled to the plurality of sensors, theplurality of batteries, the plurality of FLAs, and the controlelectronics, wherein the control electronics are operative toselectively activate the plurality of FLAs to provide muscle movementassistance to a user of the exosuit, wherein the flexible substrate is asingle unitary patch and is designed to be draped around the exosuit bya user and further secured to the exosuit by the user, wherein when thesingle unitary patch is removed from or attached to the exosuit, thecombination of the flexible substate, the plurality of FLAs, theplurality of batteries, the control electronics, and the power andcommunications network is collectively removed from or attached to theexosuit.
 16. The multiple assistive movement patch assembly of claim 15,wherein the plurality of FLAs comprises a first set of FLAs that providehip flexor assistive movements and a second set of FLAs that provide hipextensor assistive movements, wherein the first and second sets of FLAsare mutually exclusive.